Projection on convex set and its application in testing force closure properties of robotic grasping

Authors:
Li Miao;Yang Wenyu;Zhang Xiaoping
Affiliations:
State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, P.R. China;State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, P.R. China;State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, P.R. China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Year:
2010

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Abstract

Force closure is one of the most fundamental properties for a multicontact robotic system to immobilize an object. Based on the projection of a point on a convex set, this paper presents an algorithm to compute the minimum distance from a point to a convex set in n-dimensional space. Further study of this projection algorithm, we found it can be used to test for closure properties of robotic grasping. Comparing with previous study, this method provides a clear physical interpretation and can be implemented very easily in practice. The superior efficiency and effectiveness of this algorithm are demonstrated by numerical examples.