3-D grasp analysis and synthesis using the ray-shooting technique
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AbstractThe ray-shooting technique is a powerful toot for handling geometric information in Computational Geometry and Computer Graphics. This chapter demonstrates that this technique can be effectively applied to stability analysis and planning of 3-D form-closure grasps in continuous and discrete domains. In form-closure grasps, any external wrench applied at the grasped object can be always balanced by the grasping forces at the contact points. A ray-shooting based formulation, which leads to several simple and efficient algorithms, is presented for qualitative test and computation of 3-D form-closure grasps as well as for automatic fixture layout design of workpieces.
All Author(s) ListLiu YH, Ding D, Lam ML
Name of ConferenceInternational Conference on Robotic Welding, Intelligence and Automation
Start Date of Conference09/12/2002
End Date of Conference12/12/2002
Place of ConferenceShanghai
Journal nameLecture Notes in Control and Information Sciences
Year2004
Month1
Day1
Volume Number299
PublisherSPRINGER-VERLAG BERLIN
Pages80 - 109
ISBN3-540-20804-6
ISSN0170-8643
LanguagesEnglish-United Kingdom
Web of Science Subject CategoriesAutomation & Control Systems; Computer Science; Computer Science, Artificial Intelligence; Computer Science, Information Systems; Engineering; Engineering, Manufacturing; Robotics

Last updated on 2021-24-09 at 00:39