International Journal of Robotics Research
Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
Oracle-polynomial-time approximation of largest simplices in convex bodies
Discrete Mathematics - Selected papers in honor of Ludwig Danzer
Polynomial-time approximation of largest simplices in V-polytopes
Discrete Applied Mathematics
Information Processing Letters
Advanced Computer-Aided Fixture Design
Advanced Computer-Aided Fixture Design
A geometric approach to automated fixture layout design
Computer-Aided Design
A complete and efficient algorithm for searching 3-D form-closure grasps in the discrete domain
IEEE Transactions on Robotics
An Efficient Algorithm for Grasp Synthesis and Fixture Layout Design in Discrete Domain
IEEE Transactions on Robotics
Efficient simplex computation for fixture layout design
Computer-Aided Design
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Designing a fixture layout of an object can be reduced to computing the largest simplex and the resulting simplex is classified using the radius of the largest inscribed ball centered at the origin. We present three different algorithms to compute such a simplex: a simple randomized algorithm, an interchange algorithm, and a branch-and-bound algorithm. We evaluate their complexity and also present methods to combine different algorithms to improve the performance and highlight their performance on complex 3D models consisting of thousands of triangles. Our randomized algorithm computes a feasible fixture layout in linear time and is well-suited for realtime applications. The interchange algorithm computes an optimal simplex in linear time such that no single vertex can be changed to enlarge the simplex. The branch-and-bound algorithm computes the largest simplex by using lower and upper bounds on the radius of the inscribed ball.