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1

$$\frac{\partial\dot\omega}{\partial\omega} = [J]^{-1}\frac{\partial([\omega]_{\times}[J]\omega)}{\partial\omega}$$ $$= [J]^{-1} \frac{\partial(\omega\times[J]\omega)}{\partial\omega}$$ $$= [J]^{-1} \left (\frac{\partial\omega}{\partial\omega}\times[J]\omega + \omega \times [J]\frac{\partial\omega}{\partial \omega}\right)$$ $$ = [J]^{-1} \left (1\times[J]\...


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You can use some Trajectory Generators to create intermediate points between the points calculated by RRT Algorithm. You can use Moden Robotics Library by Neuroscience and Robotics Lab at Northwestern University on Github for example to find some functions which can help you at this time step. You can take a look at "CartesianTrajectory" and "...


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