**ECE 417 - Introduction to Robotics**
**Notes**

Matrix review:

Multiplication:

where
(dot
product)

sizes: 3x2 times 2x4 = 3x4

Remember: Row, Column (RC)

Note: Matrix multiplication does not commute:

In general

But associate property holds:

For many matrices (i.e., non-singular matrices) there exists an inverse such that

Where I is an identity matrix. E.g.,

Matrix transpose: interchanges rows and columns