An approach to dynamic grasp stability measurement

Author

Li, Y.F. ; Meng, Q.G. ; Tso, S.K.

Author_Institution

Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, Hong Kong

Volume

2

fYear

1998

Firstpage

1168

Abstract

Grasping dynamic stability is an important quality index for robotic grasping. Previous studies on the grasping stability usually only consider the problem under the quasistatic assumption. This paper systematically investigates the grasping dynamic behavior from both theoretical and simulation aspects for the purpose of practical measurements. The dynamic stability of a grasping system is related to the contact type between the grasped object and the fingers, the grasping configuration, the control law of the fingers, and the passive compliance of the fingers. Starting from the dynamic equations of the grasping system, Lyapunov stability theory is used to study the grasping dynamic stability problem, The simulation results show the effectiveness of the formulation for measurements on real systems

Keywords

Lyapunov methods; asymptotic stability; compliance control; dynamic response; manipulator dynamics; mechanical stability; simulation; time-domain analysis; Lyapunov stability theory; contact type; dynamic grasp stability measurement; fingers control law; grasping dynamic stability; gripper; passive compliance; quality index; robot hand; robotic grasping; simulation; time domain behaviour; Admittance; Damping; Equations; Fingers; Grasping; Manufacturing; Research and development management; Robotic assembly; Stability; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1998. IMTC/98. Conference Proceedings. IEEE

Conference_Location

St. Paul, MN

ISSN

1091-5281

Print_ISBN

0-7803-4797-8

Type

conf

DOI

10.1109/IMTC.1998.676908

Filename

676908