Labels:text | screenshot | font | document OCR: Q = (0%p, 0%Ip, Opp, (2/3)ppp) forf = II, III, IV, V Another way to simplify the problem relies on the fact that in active movement, finger III does not have much adduction or abduction movement. Because the other fingers are planar manipulators with the exception of the MP joint, it follows that Oup can be calculated from the displacement of the fingertip in the object coordi- nation frame of finger III (see Figure 6). Postulate 2. Finger III does not naturally make side movements (Constraint 4): 0%P (III) = 0 Thus, the joint vector for finger III becomes Qm = (0MP (III), O, OpIP(III), (2/3) @ppp(III))
