The most obvious application is in the grasping problem in robotics.
The algorithm presented on this web site
I will present an algorithm by Toussaint and Sack from 1987. We first consider P as being a single point, that in turn will help us find the wedge when P is an edge, and finally, we'll get to the case where P is a simple polygon.
An applet is provided that generates the movability wedge for any valid P and Q drawn by the user.






