| 多指手机器人抓取系统的稳定性 |
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| 引用本文： | 王凯明.多指手机器人抓取系统的稳定性[J].西北纺织工学院学报,2008(5):647-649. |
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| 作者姓名： | 王凯明 |
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| 作者单位： | [1]长安大学理学院,陕西西安710064 |
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| 摘 要： | 针对多指手机器人抓取系统，引入了密度函数用于研究其线性及非线性系统的稳定性，得到了使抓取系统的平衡解几乎处处渐近稳定的不等式条件．当抓取系统对几乎所有的初值满足不等式条件时，所考察的非线性系统的平衡解是几乎处处渐近稳定的．
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| 关 键 词： | 机器人 密度函数 渐近稳定性 抓取系统 |
On stability of robotic multi-fingered grasping |
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| WANG Kai-ming.On stability of robotic multi-fingered grasping[J].Journal of Northwest Institute of Textile Science and Technology,2008(5):647-649. |
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| Authors: | WANG Kai-ming |
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| Affiliation: | WANG Kai-ming (School of Science, Chang＇an University, Xi＇an 710064, China) |
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| Abstract: | In order to study the stability of robotic multi-fingered grasping, density function is constructed, and the inequality condition of everywhere stability of grasping system is obtained. When the grasping system satisfies the inequality for almost all initial value, the equilibrium of this considered system is asymptotic stable almost everywhere. |
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| Keywords: | robot density function asymptotic stability grasping system |
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