ocr: Qj=(eMp, Ohp, OpIP, (2/3)0pIp) forf=IL,II,IV,V Another waytosimplifythe) problem relies ont the fact thatin 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 OMP canl 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): OMp (III)=0 Thus, thejoint vector for finger III becomes Qu= (OMp (III),0, OPIP(III), (2/3)0pp(III)
