3-D grasp analysis and synthesis using the ray-shooting technique
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摘要The 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.
著者Liu YH, Ding D, Lam ML
會議名稱International Conference on Robotic Welding, Intelligence and Automation
會議開始日09.12.2002
會議完結日12.12.2002
會議地點Shanghai
期刊名稱Lecture Notes in Control and Information Sciences
出版年份2004
月份1
日期1
卷號299
出版社SPRINGER-VERLAG BERLIN
頁次80 - 109
國際標準書號3-540-20804-6
國際標準期刊號0170-8643
語言英式英語
Web of Science 學科類別Automation & Control Systems; Computer Science; Computer Science, Artificial Intelligence; Computer Science, Information Systems; Engineering; Engineering, Manufacturing; Robotics

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