Chapter 2. Prehension

Chapter 4 - During Contact 241
Figure 6.13 One multi-joint finger. The position and orientation
of the fingertip in a Cartesian coordinate frame placed on the tip
of the finger is a function of the joint angles.
or
where J is the composite Jacobian matrix composed of the individual
finger Jacobians; h is the set of twist systems at the five fingertips; and
Q is the joint angles for the fingers. In order to determine joint angles
from the end point position and orientation, the inverse of J would be
needed. Recalling F as the set of wrenches [w1 ,w~...w,]T at the
contacts and defining z as the torques [tjl ,tjz,tj# at the joints, then
Equation 9 relates the force at the fingertip (left-hand side of the
Z