Stability and Modal Control of an Object Grasped by a Multifingered Robot Hand

Abstract

A linearized model of the dynamics of a robot hand-object system is studied using concepts and techniques popular in power system applications. The state variables most responsible for instability are identified using participation factors calculated from the entries of right and left eigenvectors of the state matrix A. Furthermore, singular value decomposition (SVD) of appropriate input and output matrices is used to achieve measure of modal controllability and observability of the system.