Abstract: The asymptotical stability of robotic hand grasping is discussed. The expressions for the potential energy, the kinetic energy and the dispassion function in a grasp is developed. Based on these results, the disturbance equation is introduced. Using the equation, the paper addresses the modal analysis of the hand-object system. The result of the modal analysis can be used for the optimization of some characteristic parameters to gain ideal asymptotical stability.

Key words: Asymptotical stability, Grasping, Mechanism, Robot