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Abstract: : We propose a simple three-dimensional modular fixturing device and present an algorithm for enumerating all of the immobilizing fixtures of a polyhedral object that can be achieved with this device and four frictionless contacts. Our approach is based on the second-order mobility theory of Rimon and Burdick [19, 20, 21]. 1 Introduction We consider the problem of computing frictionless immobilizing fixtures of a three-dimensional (3D) polyhedral object. We propose a simple fixturing device... (Update)
Context of citations to this paper: More
...for any coefficient of friction min . Ponce also develops a four point frictionless grasp planner for the purposes of parts fixturing [72]. This approach is based on the idea of second order immobility, due to Rimon and Burdick, 78] rather than on the traditional force form...
.... three dimensional polyhedral objects using a new reconfigurable gripper, currently under construction at the University of Illinois [36, 51]. The gripper consists of two parallel plates whose distance can be adjusted 1 (a) b) Figure 1: A reconfigurable gripper: a)...
Cited by: More
Algorithms for Constructing Immobilizing Fixtures and.. - Sudsang, Ponce.. (1996) (Correct)
Grasping and In-Hand Manipulation: Experiments with a.. - Attawith Sudsang Jean (1998) (Correct)
Grasping and In-Hand Manipulation: Geometry and Algorithms - Sudsang, Ponce, Srinivasa (1999) (Correct)
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7: Constructing Force-closure Grasps (context) - Nguyen - 1988
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BibTeX entry: (Update)
J. Ponce. On planning immobilizing fixtures for threedimensional polyhedral objects. In IEEE Int. Conf. on Robotics and Automation, pages 509--514, Minneapolis, MN, April 1996. http://citeseer.ist.psu.edu/article/ponce96planning.html More
@misc{ ponce96planning,
author = "J. Ponce",
title = "On planning immobilizing fixtures for threedimensional polyhedral objects",
text = "J. Ponce. On planning immobilizing fixtures for threedimensional polyhedral
objects. In IEEE Int. Conf. on Robotics and Automation, pages 509--514,
Minneapolis, MN, April 1996.",
year = "1996",
url = "citeseer.ist.psu.edu/article/ponce96planning.html" }
Citations (may not include all citations):100 the existence and synthesis of multifinger positive grips - Mishra, Schwartz et al. - 1987
93 Solving Polynomial Systems using Continuation for Engineerin.. (context) - Morgan - 1987
71 Constructing force-closure grasps (context) - Nguyen - 1988
35 A complete algorithm for synthesizing modular fixtures for p.. (context) - Brost, Goldberg - 1994
32 Planning for modular and hybrid fixtures - Wallack, Canny - 1994
29 Constructing stable grasps (context) - Nguyen - 1989
28 Quantifier elimination for conjunctions of linear constraint.. (context) - Lassez, Lassez - 1992
26 The geometry of grasping (context) - Markenscoff, Ni et al. - 1990
25 Some discussion of static gripping and its stability - Mishra, Silver - 1989
23 Towards planning with force constraints: On the mobility of .. (context) - Rimon, Burdick - 1993
22 the existence of modular fixtures - Zhuang, Goldberg et al. - 1994
21 Mechanics of form closure (context) - Lakshminarayana - 1978
19 On computing four-finger equilibrium and force-closure grasp.. - Ponce, Sullivan et al. - 1996
14 A mathematical approach to automatic configuration of machin.. (context) - Chou, Chandru et al. - 1989
12 Mobility of bodies in contact-II: How forces are generated b.. - Rimon, Burdick - 1994
12 Stable workpiece fixturing (context) - Donoghue, Howard et al. - 1994
10 The kinematics of machinery (context) - Reulaux - 1963
10 Mobility of bodies in contact-I: A new 2 nd order mobility i.. - Rimon, Burdick - 1994
9 Uber Gebiete von Schraubengeschwindigkeiten eines starren Ko.. (context) - Somov - 1900
8 Fixturing faceted parts with seven modular struts (context) - Wagner, Zhuang et al. - 1995
8 Kinematics methods for automated fixture reconfiguration pla.. (context) - Bausch, Youcef-Toumi - 1990
8 Immobilizing a polytope (context) - Czyzowicz, Stojmenovic et al. - 1991
7 Kinematics of workpart fixturing (context) - Asada, By - 1985
7 and wrenches that cannot be bought in a hardware store (context) - Roth, motors - 1984
7 Reported in: Analyse des travaux de l'acad'emie royale des s.. (context) - Fourier
7 Worksholding -- analysis and planning (context) - Mishra - 1991
5 Algorithms and Techniques for Manufacturing (context) - Wallack - 1995
2 Fixture loading with sensorbased motion plans (context) - Yu, Goldberg - 1995
The graph only includes citing articles where the year of publication is known.
Documents on the same site (http://www-cvr.ai.uiuc.edu/ponce_grp/publications/publications.html): More
Primitives, Perceptual Organization and Object Recognition - Forsyth, Malik, Fleck, Ponce (1997) (Correct)
Probabilistic 3D Object Recognition - Shimshoni, Ponce (1995) (Correct)
Recovering The Shape of Polyhedra Using Line-Drawing.. - Shimshoni, Ponce (1994) (Correct)
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