In the force screw space, we first establish, the relationship between joint torque and external force acting on the grasped object, Jacobian matrices for all hand-object system are defined.

• 首先在抓持系统的力旋量空间中，建立了关节力矩与物体外力的关系，定义了整个手物体抓持系统的雅可比矩阵。