Computation of the Jacobian

Portions abstracted from H. Asada and J.-J. E. Slotine,

Robot Analysis and Control, Wiley, 1986

2017 Max Donath

Infinitesimal rotations obey the rules of vector addition,
while finite rotations do not.
Df0E D (yaw, pitch, roll)

Yaw, pitch, roll convention based

on ordered ZYZ transformation
See https://en.wikipedia.org/wiki/Cross_product
Example 2: Consider the two D.O.F. planar arm.
1) Resolve the end point velocity to joint velocities
2) Find singular configurations

For derivation of J, see

Example 5.2.1, Textbook (1989)
or
Example 4.5, Textbook (2006)

See http://www.mathwords.com/i/inverse_of_a_matrix.htm
Example 3: Find singular configurations for the 3 D.O.F. wrist