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Given a 3 fingered gripper grasping an ellipsoidal object. The thumb consists of two links with two revolute joints.
Given a 3 fingered gripper grasping an ellipsoidal object. The thumb consists of two
links with two revolute joints. The other two fingers consist of 3 links with 3 revolute joints and
are identical in size. The length of the bottom link and the top link for the thumb is 0.05m and
0.03m respectively. The link lengths of the bottom, middle, and top link of the 3 linked fingers are
0.03m, 0.03m, and 0.02m respectively. The base of finger F1 is given by p1 = (0.02; 0.03; 0.01) in
the palm frame P. The base of finger F2 is given by p2 = (0; 0.03; 0) in frame P. The surface of the
ellipsoid object is described in the frame O by (x/a)^2 + (y/b)^2 + (z/c)^2 = 1. Derive the relationship
between the object configuration, the contact points specified in frame O and the joint angles of the
fingers.
