Shahram Hadian Jazi - PhD student, Isfahan University of Technology, Isfahan, Iran
Mehdi Keshmiri - Assistant Professor, Isfahan University of Technology, Isfahan, Iran
Farid Sheikholeslam - Assistant Professor, Isfahan University of Technology, Isfahan, Iran

Many Researchers have worked on grasping phenomena in cooperating systems in default of slipping condition. Although the control system is designed such that to keep the contact force inside friction cone and avoid slipping, however, slippage can occur due to many reasons. In this research dynamics analysis and control synthesis of a cooperating system, considering slipping condition is performed. Equality and inequality equations of frictional contact conditions are replaced by a single second order differential equation with switching coefficients in order to facilitate the dynamical modeling. Using this modeling of friction, a modified grasping design approach is presented to control end-effector slippage and object.

sliding condition, cooperating systems, frictional point contact, grasping