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) |