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The formula is $$d = 6\,n - \sum_{i= 1}^{J}\left( 6 - f_i\right)$$ or $$d = 6N - 1 - \sum_{i=1}^j\ (6 - f_i) = 6(N-1 - J) + \sum_{i=1}^J\ f_i $$ In the book Modern Robotics, there is an additional (-1) in the formula, as shown in the second version of the formula, as they recommend counting the ground as linkage. I do not count ground as linkage, I do not ...


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I was able to figure out after digging further through several other posts and google searches. This post pointed me in the right direction: https://physics.stackexchange.com/questions/293037/how-to-compute-the-angular-velocity-from-the-angles-of-a-rotation-matrix Then Wikipedia: https://en.wikipedia.org/wiki/Angular_displacement#...


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