Методы определения качества захвата объекта

Рассмотрен вопрос выбора наиболее подходящего способа захвата объекта. Поскольку захват должен иметь такие свойства, как сопротивление возмущениям, ловкость, равновесие и устойчивость, выбор осуществляется на основании сравнения количественной оценки показателей качества захвата - параметров, связанных с этими свойствами. Приведены классификация показателей качества, а также обзор наиболее часто применяемых критериев качества захвата и способы их вычислений. Разработан и программно реализован алгоритм вычисления показателей качества для захвата. Приведены результаты расчета рассмотренных критериев и выполнен их анализ.

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