Title :
A New Distance Algorithm and Its Application to General Force-Closure Test
Author :
Zheng, Yu ; Chew, Chee-Meng
Author_Institution :
Control & Mechatron. Lab., Nat. Univ. of Singapore, Singapore
Abstract :
This paper presents an algorithm for computing the distance between a point and a convex cone in n-dimensional space. The convex cone is specified by the set of all nonnegative combinations of points of a given set. If the given set is finite, the algorithm converges in a finite number of iterations. The iterative computation speeds up with the help of the derived recursive formulas and effective choice of initial and stopping conditions. The function of this algorithm is demonstrated by its application to force-closure test, which is a fundamental problem arising in research of several mechanisms. Numerical examples show that force-closure can be verified very quickly by this means.
Keywords :
dexterous manipulators; iterative methods; manipulator dynamics; cable-driven robots; distance algorithm; general force-closure test; multifingered grasping; n-dimensional space; Drives; Euclidean distance; Fixtures; Force control; Iterative algorithms; Laboratories; Mechatronics; Object detection; Robots; Testing; cable-driven robots; convex cone; distance; fixtures; force-closure; multifingered grasps;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681414