Stiffness analysis for grasping tasks

Abstract

This section addresses key aspects that are related with stiffness properties when dealing with grasping tasks. Main theoretical aspects are formulated for computing the Cartesian stiffness matrix via a proper stiffness analysis and modeling. Basic concepts are given for the comparison of stiffness performance for different robotic architectures and end-effectors by referring both to local and global properties. Cases of study are described for clarifying the effectiveness and engineering feasibility of the proposed formulation for stiffness analysis. Then, an experimental set-up and tests are proposed for the experimental validation of stiffness performance.