Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2008.4681414
Title: A new distance algorithm and its application to general force-closure test
Authors: Zheng, Y. 
Chew, C.-M. 
Keywords: Cable-driven robots
Convex cone
Distance
Fixtures
Force-closure
Multifingered grasps
Issue Date: 2008
Source: Zheng, Y.,Chew, C.-M. (2008). A new distance algorithm and its application to general force-closure test. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 : 313-318. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2008.4681414
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. © 2008 IEEE.
Source Title: 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/73059
ISBN: 9781424416769
DOI: 10.1109/RAMECH.2008.4681414
Appears in Collections:Staff Publications

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