Assignment 1users.encs.concordia.ca/home/m/md_hm/ENGR 6411 robotics...2.36) From Cayley's...
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Assignment 1users.encs.concordia.ca/home/m/md_hm/ENGR 6411 robotics...2.36) From Cayley's formula, the number Of parame- ters needed to specify a rotation is the number of free parameters
