• DocumentCode
    823193
  • Title

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

  • Author

    Zheng, Yu ; Qian, Wen-Han

  • Author_Institution
    Robotics Inst., Shanghai Jiao Tong Univ., China
  • Volume
    21
  • Issue
    3
  • fYear
    2005
  • fDate
    6/1/2005 12:00:00 AM
  • Firstpage
    470
  • Lastpage
    473
  • Abstract
    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, d1, and d2 can be omitted.
  • Keywords
    dexterous manipulators; linear programming; 3D force-closure test; frictional grasps; linear programming; ray-shooting based algorithm; Fixtures; Friction; Linear programming; Robot kinematics; Sufficient conditions; Testing; Vectors; Duality; force closure; linear programming (LP); ray-shooting technique;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2004.842351
  • Filename
    1435492
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=823193