Sensitivity analysis for a class of robotic grasping quality functionals

摘要

We consider an optimization formulation that captures the quality of a grasp. In this model the object geometry, finger contact points and the magnitude of the external load are given. Perturbation of these parameters from their nominal values might lead to significant variations on the predicted grasping quality measures. In this paper we study the sensitivity of a class of grasping quality functions subject to these perturbations and introduce a global sensitivity measure together with a computational procedure to evaluate it. Our analysis is developed within the framework of sensitivity theory and dual methods of nonlinear programming. Numerical simulations supporting the theoretical analysis are presented.