机器人多指抓取的力封闭判别

On the Force Closure of Robotic Multifingered Grasp

在机器人多指操作过程中，需要判断抓取姿态是否满足力封闭条件．基于非线性摩擦锥约束转换为对称矩阵的正定线性约束，进一步将抓取力摩擦锥约束转换为线性矩阵不等式约束，使抓取力封闭判别问题转化为带线性矩阵不等式约束的可行解问题。

An important topic of robotic multifingered manipulation process is the force closure problem of grasp configuration. Based on the early result, which transforms the nonlinear friction cone constraints into positive definiteness of certain symmetric matrices, this paper further cast the friction cone constraints into linear matrix inequalities (LMIs) and formulated the force closure problem as an LMI feasibility problem. The latter was extensively studied in the optimization and control community, and highly efficient algorithms with polynomial time complexity are now available for its solution.