Constraint Satisfaction for Motion Feasibility Checking

<table class="table-group" id="tab8"><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">2</td><td class="align_center">Hgrasp</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left" rowspan="2">3</td><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">4</td><td class="align_center">Oplace</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">5</td><td class="align_center">Bplace</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">6</td><td class="align_center">Hplace</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left" rowspan="2">7</td><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 intra-action dependency.</div>

Mathematical Problems in Engineering

tab8

Table 8

Table 8: Constraint Satisfaction for Motion Feasibility Checking 