Constraint Satisfaction for Motion Feasibility Checking

<table class="table-group" id="tab7"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Priority</td><td class="align_center">Variable</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">1</td><td class="align_center">Breach</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left" rowspan="3">2</td><td class="align_center">Hgrasp,</td></tr><tr><td class="align_center">Hpre,</td></tr><tr><td class="align_center">Hpost</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">3</td><td class="align_center">Bplace</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left" rowspan="4">4</td><td class="align_center">Oplace.,</td></tr><tr><td class="align_center">Hplace.,</td></tr><tr><td class="align_center">Hlow.,</td></tr><tr><td class="align_center">Hret</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Variable ordering based on inter-action dependency.</div>

Mathematical Problems in Engineering

tab7

Table 7

Table 7: Constraint Satisfaction for Motion Feasibility Checking 