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On the Liapunov stability of multi-finger grasps

Published online by Cambridge University Press:  01 January 2000

Mikhail Svinin ,
Kanji Ueda  and
Makoto Kaneko
Mikhail Svinin
Affiliation:
Mechanical Engineering Department, Kobe University, Rokkodai, Nada-ku, Kobe 657-8501 (Japan) svinin@mech.kobe-u.ac.jp
Kanji Ueda
Affiliation:
Mechanical Engineering Department, Kobe University, Rokkodai, Nada-ku, Kobe 657-8501 (Japan) svinin@mech.kobe-u.ac.jp
Makoto Kaneko
Affiliation:
Robotics Laboratory, Department of Industrial and System Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima 739-8527 (Japan) kaneko@huis.hiroshima-u.ac.jp
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Abstract

This paper deals with the stability of a rigid body under multiple contact forces. First, the problem is considered at the force planning level, and the stability of a force distribution is formulated. For this problem, the stiffness tensor is derived, and its basic properties are analyzed. Necessary and sufficient conditions for stability of a force distribution are established in an analytical form. These conditions, considered under unilateral frictional constraints, are studied on an illustrative example. Next, it is shown that stabilization of an unstable force distribution can be done by a simple control law. The stability conditions for this control law are formulated by transforming the stiffness tensor to the center of stiffness. Finally, conclusions on the contradiction between the Liapunov stability and the contact stability of the objects are drawn.

Keywords

Multi-finger graspStability analysisStiffness tensorForce redundancyInternal forcesFriction
Type
Research Article
Information
Robotica , Volume 18 , Issue 1 , January 2000 , pp. 59 - 70
Copyright
© 2000 Cambridge University Press

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