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The analysis of equilateral grip of a prismatic and convex workpiece

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2 Author(s)
Orlowski, M. ; Nat. Res. Inst. for Math. Sci. of the CSIR, Pretoria, South Africa ; Pachter, M.

Certain facets of the gripping problem in robotics are discussed. A gripper with a single degree of freedom is considered, which consists of three equal-length fingers. The set of workpieces under consideration are modeled by prismatic and convex polyhedra. This leads to a planar-geometric formulation. The computational geometric problem of inscribing, in a given convex polygon, an equilateral triangle that is locally minimal, is addressed. Feasibility and the (computational) geometric construction of the solution are emphasized

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )