建立四自由度视觉装置运动模型，导出从目标物体上的任一点到计算机图像中对应点的变换算法。
We establish four degree of freedom vision device movement model to educe the switch calculation from any dot on the object to the corresponding dot in the computer image.
由冗余自由度手指构成的多指灵巧手具有较大的灵巧性，对物体进行微细操作以及抓取特殊形状物体的能力也比非冗余自由度手指构成的多指手要强。
The multi fingered robot hands constructed by redundant fingers are more dexterous and have bigger possibility to finish fine operation and to grasp objects with complicated shape.
为了抓取空间中任意位置和方位的物体，需有6个自由度。
In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom.
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