Projection on Convex Set and Its Application in Testing Force Closure Properties of Robotic Grasping

摘要

Force closure is one of the most fundamental properties for a multi-contact robotic system to immobilize an object. Based on the projection of a point on a convex set, this paper presents an algorithm to compute the minimum distance from a point to a convex set in n-dimensional space. Further study of this projection algorithm, we found it can be used to test for closure properties of robotic grasping. Comparing with previous study, this method provides a clear physical interpretation and can be implemented very easily in practice, The superior efficiency and effectiveness of this algorithm are demonstrated by numerical examples.