- #1
lwcjoseph
- 3
- 0
Hello everyone, i am now working on a problem with three fingers robot hand to grab a cube to undergo some motion
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 !
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 !