Hello everyone, i am now working on a problem with three fingers robot hand to grab a cube to undergo some motion(adsbygoogle = window.adsbygoogle || []).push({});

however i face some difficulties on deriving the grasp transformation matrix which help to switching the local coordinate frame

at first i was given three point vectors [0 1 0]^T, [1 0.5 0]^T, [0 -1 0]^T (T means transpose)

then to calculate a Grasp transformation matrix

i would like to know the step to achieve the result and any general method for deriving the matrix?

thanks very much for your help !

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# Grasp transformation matrix

**Physics Forums | Science Articles, Homework Help, Discussion**