Simplification of the ray-shooting based algorithm for 3-D force-closure test

Authors:
Yu Zheng;Wen-Han Qian
Affiliations:
Robotics Inst., Shanghai Jiao Tong Univ., China;-
Venue:
IEEE Transactions on Robotics
Year:
2005

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Abstract

This paper addresses a shortcut in the ray-shooting based algorithm proposed by Liu. His algorithm provides an efficient force-closure test of 3D frictional grasps, which is formulated as a linear programming (LP) problem. We prove that the optimal objective value of the LP formulation indicates the force-closure property of grasps directly. Thus computing Q, d1, and d2 can be omitted.