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Geometric modelling of boundless grasps
Y.L. Xiong, D.J. Sanger, D.R. Kerr
Journal:

Robotica / Volume 11 / Issue 1 / January 1993

Published online by Cambridge University Press:

09 March 2009, pp. 19-26
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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.