Table of contents

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This page contains a structured table of contents of the main articles. At the top of the articles there is a navigation bar with which the articles can be read through in the listed order. The order results from the appearance in the script and the fact, that the articles are partly based on each other. Basically the articles can also be read in any order.

1 Vector algebra

1.1 Unit vectors

1.2 Simple arithmetic operations

1.3 Dot product

1.4 Cross product

2 Matrices

2.1 Multiplication with a scalar

2.2 The transpose of a matrix

2.3 Addition of matrices

2.4 Multiplication of matrices

2.5 Determinant of a matrix

2.6 Minors and cofactors

3 Matrix inversion

3.1 Gauß-Jordan-Algorithm

3.2 Adjugate Formula

4 Transformations

4.1 Translation

4.2 Rotation

4.3 Homogeneous coordinates

4.4 Combinations of transformations

4.5 Inverse transformation

5 Three-Angle Representations

5.1 Roll-Pitch-Yaw

5.2 Euler angles

6 Quaternions

6.1 Basic properties of quaternions

6.2 Pure and unit quaternions

6.3 Addition of quaternions

6.4 Multiplication of quaternions

6.5 Rotations using quaternions

6.6 Composition of rotations

7 Denavit-Hartenberg Convention

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