仿真结果表明，离散学习控制方法能在有限次迭代后使手指关节位置达到期望位置。
The simulation result shows that it can make finger joint position reach desired position after finite times iteration.
针对多指手爪的非线性影响，提出了一种位置离散学习控制方法，并给出了这种方法的收敛性定理。
To overcome the nonlinear effects, the discrete learning control strategy is presented. The convergence theorem is also given.
实验结果表明，在经过数次迭代学习后，闭环离散学习控制可使位置伺服系统达到良好的控制性能。
The experiment results show that this scheme is able to attain a good performance for the position servo systems after several iterative learnings.
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