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 O_A to the point P. This vector can be expressed as such:

Where the point P is represented in frame {A}. The vector from the origin to point P is defined as such:

Where the notation p^A simply means "point p in the frame A".

Important Vector Operations