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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 $n$, ...
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Redundancy and Null space projection

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 ...
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