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，给出了力封闭抓取的充要条件 In the multi-finger operation of the robot, it is necessary to judge whether the grasping gesture satisfies the force closing condition. Based on the positive definite linear constraint transformed from nonlinear friction cone constraint into symmetric matrix, the constraint of friction force cone is further converted into the linear matrix inequality constraint, and the problem of discriminating the grab force closure is transformed into a feasible solution to the problem of linear matrix inequalities. The force closed crawl of the necessary and sufficient conditions