Computing All Immobilizing Grasps of a Simple Polygon with Few Contacts

被引：0
|
作者：
Jae-Sook Cheong
Herman J. Haverkort
A. Frank van der Stappen
机构：
[1] Department of Information and Computing Sciences,
[2] Utrecht University,undefined
[3] P.O. Box 80089,undefined
[4] 3508 TB Utrecht,undefined
[5] Department of Mathematics and Computing Science,undefined
[6] Eindhoven University of Technology,undefined
[7] P.O. Box 513,undefined
[8] 5600 MB Eindhoven,undefined
来源：
Algorithmica | 2006年 / 44卷
关键词：
Immobility; Grasp; Fixturing; Wrench; Form closure; Second-order immobility; Positive basis;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
We study the output-sensitive computation of all the combinations of edges and concave vertices of a simple polygon that allow an immobilizing grasp with less than four frictionless point contacts. More specifically, if n is the number of edges, and m is the number of concave vertices of the polygon, we show how to compute: in O(m4/3 log1/3 m + K) time, all K combinations that allow a form-closure grasp with two contacts; in O(n2 log4 m + K) time, all K combinations that allow a form-closure grasp with three contacts; in O(n log4 m + (nm)2/3 log2+ε m + K) time (for any constant ε > 0), all K combinations of one concave vertex and one edge that allow a grasp with one contact on the vertex and one contact on the interior of the edge, satisfying Czyzowicz's weaker conditions for immobilization; in O(n2 log3 n + K) time, all K combinations of three edges that allow a grasp with one contact on the interior of each edge, satisfying Czyzowicz's weaker conditions for immobilization.
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页码：117 / 136
页数：19
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