Goldberg D - space and Deform Closure Grasps of Deformable Parts
نویسندگان
چکیده
Building on the well-established form closure framework for holding rigid parts, in this paper we propose a new framework for holding deformable parts. We consider the class of deformable parts that can be modeled as linearly elastic polygons with a triangular finite element mesh and given stiffness matrix. We define the D-space (deformation-space) of a part as the C-space of all its mesh nodes. Free space is the intersection of the set of topology-preserving mesh configurations with the complement of the union of all D-obstacles that represent collisions of the part with finger bodies. Consider a given set of finger bodies in frictionless contact with a part. When positive work is needed to release the part, we say that it is in deform closure. We present numerical examples and prove two results: (1) if a contact set holds a rigid part in form closure, it will hold the equivalent deformable part in deform closure and (2) deform closure is
منابع مشابه
D-space and Deform Closure Grasps of Deformable Parts
– Building on the well-established form closure framework for holding rigid parts, this paper proposes a new framework for holding deformable parts. We consider the class of deformable parts that can be modeled as linearly elastic polygons with a triangular finite element mesh and given stiffness matrix. We define the D-space (deformation-space) of a part as the C-space of all its mesh nodes. F...
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