ocr: Qj=(0MP, 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 Qm= (OMp (III),0, OPIP(III), (2/3)0pp(III)
