An important topic of robotic multifingered manipulation process is the forceclosure problem of grasp configuration.
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。
2
A nonlinear programming algorithm suitable for both qualitative and quantitative analyses of forceclosure in multi fingered robotic grasping is proposed.
提出了一个同时适于机器人多指抓取力封闭定性与定量分析的非线性规划算法。
3
Edward iv granted it a royal charter in 1476, giving the event legal protection from closure that is still in force-which, for the fair-goers, is just as well.