Modular dynamic modeling and simulation of grasping

A point contact model, suitable for dynamic modeling and simulation of complete grasping tasks, is discussed in the paper. The model is applicable to an arbitrary number of contacts and is local to the point of contact, thus allowing a modular approach to grasp systems modeling. The model, based on an extension of the LUGRE friction model, also accounts for microscale phenomena such as microsliding displacements. Some simulation results are discussed showing the effectiveness of the model in assessing the performance of a grasp control system