Analysis of sensor and gripper jaw response times

This paper presents the importance of designing a robotic grasping mechanism from the mechanical resolution and sensing resolution perspective. A low grasping system mechanical resolution defeats the purpose of high sensing resolution. A low sensing resolution capability defeats the purpose of a high mechanical control resolution. In either case the result is inadequate grasping control for precision grasping. An adequate balance is required between sensing and mechanical resolutions to maximize the potential of both. Grasping mechanism´s grasp range and sensing range are important as well, because these affect slippage control, precision grasping, and safe object manipulation.