Abstract
The grasp function of a planar part, characterized by extrema in the part's width function, can be used to analyze grasp mechanics. In particular, it can predict the final orientation of the part when it is grasped with a parallel-jaw gripper. This information allows us to derive a sequence of grasp angles that will orient the part up to symmetry in the grasp function. In previous papers the grasp function was assumed given as input; in this paper we present a linear-time algorithm for computing the grasp function of a part bounded by n algebraic arcs given in parametric form. We also show that the algorithm can be extended to compute a related function that describes the outcome of first pushing and then grasping the part.
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