An important topic of robotic multifingered manipulation process is the force closure 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。

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A nonlinear programming algorithm suitable for both qualitative and quantitative analyses of force closure 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。

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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.

1476年，爱德华四世授予此地皇家特许状，使该市场被赋予法律保障不被关闭，且至今仍有效——对于市场中的商贩来说也受此保护免遭此危。

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Michigan went to court in an unsuccessful effort to force closure of Chicago-area shipping locks, then joined four other states Wisconsin, Minnesota, Ohio and Pennsylvania in a lawsuit against the U.S. Army Corps of Engineers and Chicago's water district, claiming their refusal to physically separate the watersheds was creating a public nuisance.

NPR: Gov. Quinn Open To Great Lakes-Mississippi Split

Police and the Highways Agency are continuing to monitor wind speeds, which could force the closure of the Sheppey Crossing in the north of the county.

BBC: Kent snow and ice causes disruption

While proponents say the law will protect the welfare of a woman undergoing a medical procedure, opponents say it will force the closure of North Dakota's only clinic that performs abortions.

CNN: North Dakota governor signs law banning most abortions