Table 2 Fingertips' coordinates and joints variables in particular positions of the model
Pos. | Finger | Fingertips coordinates[cm] | Joints variables[0] | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
X | y | z | q 1 | q 2 | q 3 | q 4 | q 5 | q 6 | q 7 | ||
I | 1 | 4.69 | 8.63 | 0.01 | 80.00 | 0.00 | 0.00 | 15.00 | 35.00 | 10.00 | - |
2 | 4.67 | 8.86 | 0.06 | 80.00 | 0.00 | 0.00 | 10.00 | 62.00 | 60.00 | 30.00 | |
3 | 4.66 | 8.97 | 0.00 | 80.00 | 0.00 | 0.00 | 0.00 | 53.00 | 80.00 | 30.00 | |
4 | 4.82 | 8.90 | -0.17 | 80.00 | 0.00 | 0.00 | -10.00 | 62.00 | 60.00 | 40.00 | |
5 | 4.68 | 8.94 | -0.07 | 80.00 | 0.00 | 0.00 | -15.00 | 80.00 | 20.00 | 35.00 | |
II | 1 | 4.45 | 7.24 | -0.19 | 80.00 | 0.00 | 0.00 | 15.00 | 61.00 | 10.00 | - |
2 | 3.94 | 8.12 | 1.77 | 80.00 | 0.00 | 0.00 | 5.00 | 65.00 | 75.00 | 25.00 | |
3 | 3.85 | 8.13 | -0.00 | 80.00 | 0.00 | 0.00 | 0.00 | 60.00 | 90.00 | 30.00 | |
4 | 3.75 | 8.12 | -1.77 | 80.00 | 0.00 | 0.00 | -5.00 | 66.00 | 75.00 | 45.00 | |
5 | 2.55 | 8.12 | -3.42 | 80.00 | 0.00 | 0.00 | -7.00 | 63.00 | 80.00 | 45.00 | |
III | 1 | 9.69 | 2.38 | -0.43 | 15.00 | 30.00 | 10.00 | 0.00 | 15.00 | 10.00 | - |
2 | 12.68 | 1.14 | -1.03 | 15.00 | 30.00 | 10.00 | 0.00 | 40.00 | 45.00 | 25.00 | |
3 | 8.80 | 0.19 | -1.85 | 15.00 | 30.00 | 10.00 | 0.00 | 60.00 | 90.00 | 30.00 | |
4 | 8.48 | 0.18 | -3.56 | 15.00 | 30.00 | 10.00 | 0.00 | 65.00 | 75.00 | 45.00 | |
5 | 7.15 | 0.48 | -5.20 | 15.00 | 30.00 | 10.00 | 0.00 | 70.00 | 80.00 | 45.00 | |