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| Format: | Artículo científico |
| Language: | en |
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Instituto Politécnico Nacional
2014
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| Online Access: | https://www.redalyc.org/articulo.oa?id=61531305002 |
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Table of Contents:
- A KKT Simplex Method for Efficiently Solving Linear Programs for Grasp Analysis Based on the Identification of Nonbinding Constraints Alejo Mosso-Vázquez David Juárez-Romero Marco Antonio Cruz-Chávez Luis Enrique Sucar Computación grasp analysis KKT Simplex method linear programming n onbinding constraints A one - phase efficient method to solve linear programming (LP) problem s for grasp analysis of robotic hands is proposed. O ur method , named as KKT Simplex method , processes free variables directly while choosing the entering and leaving variables, which makes it a one - phase method able to start at any point of the set of feasi ble solutions. Besides, the proposed method lowers the number of simplex steps by an angular pricing strategy to choose the entering variable. Moreover, t he method reduces the size of an LP problem by the identification of nonbinding constraints that prese rves the Karush - Kuhn - Tucker (KKT) cone. We developed t he KKT Simplex method by incorporating to the well - known revised simplex method the following components: a method to process free variables, a pricing strategy, and an identification method. We solve L P problems of grasp analysis to test the efficiency and t he one - phase nature of the proposed method. 2014 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61531305002 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.18