SENSITIVITY ANALYSIS FOR A CLASS OF ROBOTIC GRASPING QUALITY FUNCTIONALS

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