Figure $6\mathrm{.}5\mathrm{.}1$ Two$-$fingered hand manipulating a grasped object

Department of Mechanical Engineering

Massachusetts Institute of Technology

Introduction to Robotics, H$.$ Harry Asada

$12$

Exercise $6\mathrm{.}2$

Define geometric parameters needed in Figure $6\mathrm{.}5\mathrm{.}1,$ and obtain the two Jacobian matrices associated with the two$-$fingered hand holding an object. Furthermore, obtain the grasp force using the Jacobian matrices and the joint torques.