Uncategorized
Notes that have not been filed under a category.
Notes
roboticsmath
23 May 2026Jacobians in Robotic Arms
How the geometric Jacobian maps joint velocities to end-effector twist, why it matters for control and singularity analysis, and how to compute and use it for a planar 2-DOF arm.
mathalgorithms
22 May 2026Heron's Method
An ancient square-root algorithm rediscovered as a special case of Newton-Raphson, with a derivation, convergence analysis, and implementations in Python, TypeScript, and C++.