Grasping and Fixturing
Although one version of this problem comes from
robotics and the other comes from
manufacturing, the aim of both is the same:
to construct a
placement of obstacles (robot fingers or fixtures) preventing the
movement of some part.
The CMU fixture design and analysis tool
for testing the suitability of proposed fixtures.
- FixtureNet, an
interactive application for constructing fixtures.
- Fixturing and
setup planning. From a paper on automated manufacturability
analysis at U. Maryland, the contents page of which seems to be missing.
- Probabilistic Algorithms for Efficient Grasping and Fixturing.
This paper by Marek Teichmann, at the 5th MSI Worksh. Comp. Geom.,
shows that grasping and fixturing are
related by geometric duality to problems of approximating many-faceted
convex polyhedra by
simpler shapes (previously studied for their application in
papers and preprints, list of online papers on sensor based
planning, grasping and fixturing, locomotion, and other robotics topics,
maintained by Howie Choset, CMU.
open problems in industrial robotics.
Patent 5465221 describes a part inspection system including the use
of convex hulls to determine stable orientations.
Geometry in Action,
a collection of applications of computational geometry.
from a common source file.