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KinematicsJointRangesConversionFactors

-                      v6
+                      v7
 The transforms from each axis to the next can be determined using the homogeneous transform in Equation 1 and finger link parameters in Table 9.  Each of the first three link parameters are fixed and the fourth one is configuration dependent on one of the position variables Θ,,k1,,, Θ,,k2,,, or Θ,,k3,, for the first three joints.
 It is useful to check that the multiplication of the four transformation matrices matches for a given finger and at least one hand configuration, such as the zero position.  The computed homogeneous transformation matrix from the wrist to tool frame for finger 1 is:
 {{{
 #!div class="center" align="center"
 '''Equation 3 - Forward Kinematics Matrix for Finger F1'''
+It is useful to check that the multiplication of the four transformation matrices matches for a given finger and at least one hand configuration, such as the zero position.  The computed homogeneous transformation matrix from the wrist to tool frame for a finger is:
+{{{
+#!div class="center" align="center"
+'''Equation 3 - Forward Kinematics Matrix for a Finger'''
 {{{
 …
 $c_{1}=cos(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
 $s_{1}=cos(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
+$s_{1}=sin(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
 $k=1$