Kinematics

Kinematic A basic introduction and explanation of the Forward Kinematic and Backward Kinematic. Rotation Matrix Before the introduction to Rotation Matrix, let’s dive into the essence of a linear algebra first. In term of a general vector, it could be viewed as: $$ \begin{bmatrix} a & c \cr b & d \end{bmatrix} \begin{bmatrix} 1 & 0 \cr 0 & 1 \end{bmatrix} \begin{bmatrix} x \cr y \end{bmatrix} \begin{bmatrix} \hat{i}’ & \hat{j}' \end{bmatrix} \begin{bmatrix} \hat{i} & \hat{j} \end{bmatrix} \begin{bmatrix} x \cr y \end{bmatrix} \begin{bmatrix} ax + cy \cr bx + dy \end{bmatrix} $$ ...