REACHABLE GRASPS ON A POLYGON OF A ROBOT ARM: FINDING CONVEX ROPES WITHOUT TRIANGULATION

Abstract

The convex rope problem, posed by Peshkin and Sanderson in <em>IEEE Journal of Robotics & Automation, 2,</em> 1986 53–58, is to find the counterclockwise and clockwise convex ropes starting at the vertex <em>a</em> and ending at the vertex <em>b</em> of a simple polygon, where <em>a</em> is on the boundary of the convex hull of the polygon and <em>b</em> is visible from infinity (i.