Stability of second-order asymmetric linear mechanical systems with application to robot grasping

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7 Scopus citations

Abstract

This technical correspondence presents a surprisingly simple analytical criterion for the stability of general second-order asymmetric linear systems. The criterion is based on the fact that if a symmetric system is stable, adding a small amount of asymmetry would not cause instability. We compute analytically an upper bound on the allowed asymmetry such that the overall linear system is stable. This stability criterion is then applied to robot grasping arrangements which, due to physical effects at the contacts, are asymmetric mechanical systems. We present an application of the stability criterion to a 2D grasp arrangement.

Original languageEnglish
Pages (from-to)966-968
Number of pages3
JournalJournal of Applied Mechanics, Transactions ASME
Volume72
Issue number6
DOIs
StatePublished - 1 Nov 2005

ASJC Scopus subject areas

  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering

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