Based on nonlinear factors analysis of static friction,Coulomb friction,viscous friction etc. for a multifingered robot hand,the dynamic control model of a flexion-extension joint is derivied.

• 本文通过分析机器人多指手爪的静摩擦、库伦摩擦、粘性摩擦等非线性因素，推导出多指手爪屈伸关节的动态控制模型；