# Tag Info

1 vote

### Classical DH and Euler angles parametrization

It appears that $R^{3}_{6}$ in equation 3.15 likely arises from the fact that the specific robot in the example has a "spherical wrist" structure. Considering joints $n-2$, $n-1$, and $n$, ...
• 339
If you multiply both members of the equation (3.9) by $J$, you'll get: $$J\dot{q} = JJ^+v + \left( J -JJ^+J \right)\dot{q_0}.$$ Then, we can exploit that $JJ^+=I$, obtaining: $$J\dot{q}=v,$$ which ...