Use of Hybrid Systems to Model the RobotiQ Adaptive Gripper

Abstract

This document presents a mathematical model of the states of a three-fingered robotic hand (Robotiq 3-Finger Adaptive Gripper) in quasistatic equilibrium with and without contact with an object. The mechanical coupling and the breakaway mechanism of the under-actuated robotic hand as well as its contact with the object are modeled as a hybrid system which is suitable for use for simulation, which gives rise to a kinematic model suitable for use in grasp analysis. Experiments are performed in order to verify the accuracy of the proposed model, and the model is demonstrated to produce physically plausible results in a robot physics simulator.