REACHABLE GRASPS ON A POLYGON OF A ROBOT ARM: FINDING CONVEX ROPES WITHOUT TRIANGULATION
Phan Thanh An · International Journal of Robotics and Automation · 2010
The convex rope problem, posed by Peshkin and Sanderson in IEEE Journal of Robotics & Automation, 2, 1986 53–58, is to find the counterclockwise and clockwise convex ropes starting at the vertex a and ending at the vertex b of a simple polygon, where a is on the boundary of the convex hull of the polygon and b is visible from infinity (i.