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Geometric modelling of boundless grasps

Published online by Cambridge University Press:  09 March 2009

Y.L. Xiong ,
D.J. Sanger  and
D.R. Kerr
Y.L. Xiong
Affiliation:
Department of Aeronautical and Mechanical Engineering, University of Salford, Salford M5 4WT (U.K.)
D.J. Sanger
Affiliation:
Department of Aeronautical and Mechanical Engineering, University of Salford, Salford M5 4WT (U.K.)
D.R. Kerr
Affiliation:
Department of Aeronautical and Mechanical Engineering, University of Salford, Salford M5 4WT (U.K.)
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Summary

This paper describes the development of the topological and geometric approach to the analysis and synthesis of form-closed grasps of arbitrary objects. Concepts of wrench spaces and the relevant subsets of the positive cone, the affine hull, the convex huli, and the related polar cone are used, and applied to a representative example.

Keywords

Geometric modellingBoundless graspsArbitrary objects.
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 19 - 26
Copyright
Copyright © Cambridge University Press 1993

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