THE ANALYSIS OF ASYMPTOTICAL STABILITY OF ROBOTIC HAND GRASPING

This paper discusses the effect of grasp impedance of robotic hands in the asymptotical stability of the grasp in robotic hand. The factors associated with the asymptotical stability include the position feedback pins and velocity feedback gains, grasp geometry and structural impedance. The relationships between the grasp impedance and the grasp geometry are analyzed in this paper. This paper develops the expressions for the potential energy, kinetic energy and dissipation function in a grasp. Based on these results, the disturbance equation is introduced. Using the disturbance equation, this paper addresses the modal analysis of the hand-object system. The result of the analysis can be used for the optimization of some characteristic parameters to get ideal asymptotical stability.