Solvability theory for a class of hemivariational inequalities involving copositive plus matrices. Applications in robotics
type: Item
instance of: scholarly article
title: Solvability theory for a class of hemivariational inequalities involving copositive plus matrices. Applications in robotics
zbMATH Open document ID: 0888.93046
DOI: 10.1007/BF02592193
published in: Mathematical Programming. Series A. Series B
publication date: 1998-06-11T00:00:00Z
review text: The purpose of this very important paper is to study the solvability of the following hemivariational inequality: Problem P. Find \(u\in C\) such that \[ \langle Mu-q,v \rangle\geq 0 \quad \forall v\in T_C (u) \] where \(C\) is a nonempty closed subset of \(\mathbb{R}^n_+ \), \(M\) is a copositive plus matrix of order \(N\) and \(q\) is fixed in \(\mathbb{R}^N\). The robot hand grasping problem can be formulated as Problem P. This means that the theory presented here is devoted to the study of the corresponding equilibrium problem of a system composed of an object and a robotic hand with nonmonotone adhesive effects and nonclassical friction effects. The main result is the following: The authors present a new inequality method in robotics and provide a corresponding suitable mathematical theory for the solvability of the hemivariational inequality with nonsymmetric matrix.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 49J40
Mathematics Subject Classification ID: 74A55
Mathematics Subject Classification ID: 74M15
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1046464
zbMATH Keywords: hemivariational inequality
zbMATH Keywords: copositive plus matrix
zbMATH Keywords: robot hand grasping
zbMATH Keywords: friction
author: Daniel Goeleven
author: Georgios E. Stavroulakis
author: Panagiotis D. Panagiotopoulos
reviewed by: Jan Lovíšek
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 1046464