Title :
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
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;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1998. IMTC/98. Conference Proceedings. IEEE
Conference_Location :
St. Paul, MN
Print_ISBN :
0-7803-4797-8
DOI :
10.1109/IMTC.1998.676908
