Force-Controlled Pose Optimization and Trajectory Planning for Chained Stewart Platforms

We study optimization methods applied to minimizing forces for poses and movements of chained Stewart platforms (SPs) that we call an “Assembler” Robot. These chained SPs are parallel mechanisms that are stronger, stiffer, and more precise, on average, than their serial counterparts at the cost of a smaller range of motion. Linking these units in … Read more

Continuous Equality Knapsack with Probit-Style Objectives

We study continuous, equality knapsack problems with uniform separable, non-convex objective functions that are continuous, strictly increasing, antisymmetric about a point, and have concave and convex regions. For example, this model captures a simple allocation problem with the goal of optimizing an expected value where the objective is a sum of cumulative distribution functions of … Read more