Scheduled System Maintenance:
On Wednesday, July 29th, IEEE Xplore will undergo scheduled maintenance from 7:00-9:00 AM ET (11:00-13:00 UTC). During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Distance Between a Point and a Convex Cone in n -Dimensional Space: Computation and Applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yu Zheng ; Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore, Singapore ; Chee-Meng Chew

This paper presents an algorithm to compute the minimum distance from a point to a convex cone in n-dimensional space. The convex cone is represented as the set of all nonnegative combinations of a given set. The algorithm generates a sequence of simplicial cones in the convex cone, such that their distances to the single point converge to the desired distance. In many cases, the generated sequence is finite, and therefore, the algorithm has finite-convergence property. Recursive formulas are derived to speed up the computation of distances between the single point and the simplicial cones. The superior efficiency and effectiveness of this algorithm are demonstrated by applications to force-closure test, system equilibrium test, and contact force distribution, which are fundamental problems in the research of multicontact robotic systems. Theoretical and numerical comparisons with previous work are provided.

Published in:

Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 6 )