Robot Dynamics Lecture Notes - ETH Z
N = N(J) null-space projector matrix 2. 1.2 Operators There exist a number of special operators such as Cross product/skew/unskew a b = 2 4 a1 a2 a3 3 5 2 4 b1 b2 b3 3 5= [a] b = 2 4 0 a3 a2 a3 0 a1 a2 a1 0 3 5 2 4 b1 b2 b3 3 5 Euclidean norm kak= p aTa = p a2 1 + :::+ a2 n Absolute vector jaj= ja1j ::: janj Null space projector N(J) 3. 4.
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