Simplification of the ray-shooting based algorithm for 3-D force-closure test

Simplification of the ray-shooting based algorithm for 3-D force-closure test

This paper addresses a shortcut in the ray-shooting based algorithm proposed by Liu. His algorithm provides an efficient force-closure test of 3D frictional grasps, which is formulated as a linear programming (LP) problem. We prove that the optimal objective value of the LP formulation indicates the...

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Veröffentlicht in:IEEE transactions on robotics 2005-06, Vol.21 (3), p.470-473
Hauptverfasser: YU ZHENG, QIAN, Wen-Han
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Duality
Exact sciences and technology
Fixtures
force closure
Friction
Linear programming
linear programming (LP)
Optimization algorithms
ray-shooting technique
Robot kinematics
Robotics
Robots
Sufficient conditions
Testing
Vectors
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Beschreibung
Zusammenfassung:This paper addresses a shortcut in the ray-shooting based algorithm proposed by Liu. His algorithm provides an efficient force-closure test of 3D frictional grasps, which is formulated as a linear programming (LP) problem. We prove that the optimal objective value of the LP formulation indicates the force-closure property of grasps directly. Thus computing Q, d/sub 1/, and d/sub 2/ can be omitted.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.842351