A NOVEL METHOD FOR DYNAMIC STABILITY ANALYSISOF ROBOTIC GRASPING

摘要

Stability is a significant property for a robot hand grasp to perform complex tasks in a way similar to humanhands. The common method to investigate the stability of robotic multi-fingered grasp system is Lyapunov directmethod, but it is usually rather difficult to find a valid Lyapunov function. Avoiding the construction of Lyapunovfunction, we obtain the sufficient conditions of the exponential stability of the equilibrium point of the grasp system,.