In order to study the stability of robotic multi-fingered grasping, density function is constructed, and the inequality condition of everywhere stability of graspingsystem is obtained.
Firstly, the dexterity of grasping object in multi-fingered hand graspingsystem was discussed and pointed out that the dexterity of this system was depending on the function of each finger.
首先讨论了多指抓持系统中抓持物体的灵巧性，指出该系统的灵巧性取决于各手指的性能。
3
Grasping the components of the divorce fault compensation system contributes to our comprehension of the system.