Grasping Control of Planar Mechanical Claw

The topic of our research is the grasping strategy of a planner two-joint mechanical claw. Our inspiration comes from a paper on the grasping strategy of soft things by a rigid mechanical hand. If we can get the force sensor's accurate data, how can we process these data to grasp an object correctly? In order to achieve our goal, we built a model of a mechanical hand on Matlab with two joints for each finger. We calculate many functions to process the data and simulate the model. With this model, we get our results. We get the evaluation of parameters alpha1 and alpha2, L, and tau. We increase the robustness of the entry of L. The mechanical claw can grasp a ball steadily and reach the stable point faster.