A Note for Robotics Handbook Readers

There are a few notational differences between the dynamics chapter in the Springer Handbook of Robotics and spatial_v2, which are summarised in the table below.

Handbook Spatial_v2  
S(u) skew(u) (u: 3D vector)
S(m1) m2 crm(m1) * m2 (cross product of two motion vectors)
−S(m)T f crf(m) * f (cross product of motion and force vector)
Φ S (joint motion subspace)
xjcalc, pcalc jcalc (joint data calculation functions)