摘要
指出动态稳定性是评价机器人多指手执行抓取操作的一项重要指标,避免构造Lyapunov函数而给出了机器人多指手抓取稳定性研究的一种新方法,得到了抓取系统指数稳定的充分条件.
Dynamic stability is one of the most significant criteria to assess an operation with robotic mul-ti-fingered hand grasp.Many authors have investigated the stability of robotic multi-fingered grasp system by Lyapunov direct method,but it is usually rather difficult to find a valid Lyapunov function.Avoiding the construction of a Lyapunov function,we obtained the sufficient condition of the exponential stability of the grasp system.
出处
《兰州理工大学学报》
CAS
北大核心
2005年第3期127-129,共3页
Journal of Lanzhou University of Technology
基金
国家自然科学基金(10101019)
