The Collaborative International Dictionary of English v.0.48:

Rasp \Rasp\ (r[.a]sp), v. t. [imp. & p. p. Rasped (r[.a]spt);
   p. pr. & vb. n. Rasping.] [OF. rasper, F. r[^a]per, to
   scrape, grate, rasp, fr. OHG. rasp[=o]n to scrape together,
   to collect, probably akin to E. rap. Cf. Rap to snatch.]
   [1913 Webster]
   1. To rub or file with a rasp; to rub or grate with a rough
      file; as, to rasp wood to make it smooth; to rasp bones to
      powder.
      [1913 Webster]

   2. Hence, figuratively: To grate harshly upon; to offend by
      coarse or rough treatment or language; as, some sounds
      rasp the ear; his insults rasped my temper.
      [1913 Webster]

WordNet (r) 3.0 (2006):

rasping
    adj 1: unpleasantly harsh or grating in sound; "a gravelly
           voice" [syn: grating, gravelly, rasping, raspy,
           rough, scratchy]
    n 1: uttering in an irritated tone [syn: rasp, rasping]