## The quickgrasp algorithm for grasp synthesis

- Watcharapol Watcharawisetkul, Mana Borwornpadungkitti, Nattee Niparnan, Attawith Sudsang
- 2015 IEEE/RSJ International Conference on…
- 2015

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@article{Zheng2009DistanceBA, title={Distance Between a Point and a Convex Cone in \$n\$ -Dimensional Space: Computation and Applications}, author={Yu Zheng and Chee-Meng Chew}, journal={IEEE Transactions on Robotics}, year={2009}, volume={25}, pages={1397-1412} }

- Published 2009 in IEEE Transactions on Robotics
DOI:10.1109/TRO.2009.2033333

This paper presents an algorithm to compute the minimum distance from a point to a convex cone in n-dimensional space. The convex cone is represented as the set of all nonnegative combinations of a given set. The algorithm generates a sequence of simplicial cones in the convex cone, such that their distances to the single point converge to the desired distance. In many cases, the generated sequence is finite, and therefore, the algorithm has finite-convergence property. Recursive formulas are… CONTINUE READING

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