Finding Stable Orientations of Assemblies with Linear Programming
Abstract
In the paper by Mattikalli et al.(5), the stability of an assemblage of frictionless contacting bodies with uniform gravity was considered. The problem of finding a stable orientation for such an assembly was formulated as a constrained maximum problem. A solution to the maximum problem yielded an orientation of the assembly that was stable under gravity; however, if no such orientation existed, then the solution to the maximum problem yielded the most stable orientation possible for the assembly. The maximum problem was solved using a numerical iteration procedure that solved a linear program for each step of the iteration. In this paper, we show that the stability problem can be considered a variant of standard zero-sum matrix games. A solution to the maximum problem can be found by solving a single linear program.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1993
- Accession Number
- ADA266990
Entities
People
- Bruno Repetto
- David Baraff
- Pradeep Khosla
- Raju Mattikalli
Organizations
- Carnegie Mellon University