Grasp parameter effect for static grasp stability of a single planar object

Grasp stability is an important factor for dexterous manipulation. This paper discusses error analysis of grasp parameters for static grasp stability of a single planar object. In our previous papers, the grasp stiffness matrix has been analytically derived, and the stability is evaluated by the eigenvalues and eigenvectors of the matrix. The grasp stiffness matrix is given by a function of the grasp parameters such as contact condition (rolling contact and sliding contact), local curvature, contact force, spring stiffness, contact position, contact orientation, and so on. In this paper, effect of the grasp parameters is analyzed by the partial derivative of the matrix with respect to the grasp parameters.