This section outlines basic knowledge about vectors used in robot kinematics. Refer to this as required. (Source: ME 547: Robot Manipulators: Kinematics, Dynamics, and Control. Taught by Baris Fidan, 2021)
Description of Position
A point P can be located by a position vector p originating from a known origin point OA to the point P. This vector can be expressed as such:
Where the point P is represented in frame {A}. The vector resulting from