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Module 9 : Robot Dynamics & controls

Lecture 31 : Robot dynamics equation (LE & NE methods) and examples

	Theorem:
	Define the matrix then is skew symmetric matrix, that is, The component of N satisfy
	Proof: we have For a given D matrix kj^th component is given by kj^th component of is
	Since inertia matrix D(q) is symmetric, i.e.
	It follows that by interchanging the indices k and j .
	This skew symmetry property is very important from control perspective.Once again note that D(q) is symmetric , positive definite & non singular matrix.