Computing immobilizing grasps of polygonal parts
The authors present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. The algorithms run in O(n{sup 2+{var_epsilon}}+K) and O(n{sup 2}log{sup 2}n+K) time in the case of form closure and second-order immobility, respectively, where n is the number of vertices of the polygon, K is the description size of the resulting set of finger placements, and {var_epsilon} is an arbitrarily small constant. The basic of the algorithm is a translation of the problem into geometric searching problems, which are solved using efficient data structures. The results can be extended to the problem of computing all placements of a line and two points that put a polygonal part in form closure. The resulting algorithm runs in O(n{sup 2}log{sup 2} n+K) time, where K is again the description size of the output.
- Research Organization:
- Utrecht Univ. (NL)
- OSTI ID:
- 20030407
- Journal Information:
- International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 5 Vol. 19; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
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