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机器人灵巧手抓持和操作物体所需要的力来自手指与物体之间的接触力。本文在静力学范围内研究对于给定的抓持和操作任务，如何简便、有效和最优地确定抓持接触力。首先将接触力空间分解为４个互补子空间，用于空间的维数判别可控与不可控接触内力。继而提出一种确定各子空间基的简单方法，将接触力分解为４个分量，并将其写成物理所受外力和手指关节力矩之间的显函数，达到减少最优变量和保证优化结果可实现的目的。文中用两个数值算例显示了方法的简便和有效。
The force required by a robot’s smart hand to grasp and manipulate the object comes from the contact force between the finger and the object. This paper studies how to determine the grip force easily, effectively and optimally for a given task of grasping and manipulating in the static range. Firstly, the contact force space is decomposed into four complementary subspaces, which are used to determine the controllable and uncontrollable internal forces of the dimension of space. Then, a simple method to determine each subspace base is proposed. The contact force is decomposed into four components and written as the explicit function between the external physical force and the joint torque of the finger to reduce the optimal variables and ensure the optimization results. Achieve the purpose. In this paper, two numerical examples show the method is simple and effective.