A Beginner's Guide to 6-D Vectors (Part 1)

The purpose of this tutorial is to present a beginner´s guide to 6-D vectors in sufficient detail that a reader can begin to use them as a practical problem-solving tool right away. This tutorial covers the basics, and Part 2 will cover the application of 6-D vectors to a variety of robot kinematics and dynamics calculations. The rest of the tutorial is chiefly concerned with explaining what spatial vectors are and how to use them. It highlights the differences between solving a rigid-body problem using 3-D vectors and solving the same problem using spatial vectors, so that the reader can get an idea of what it means to think in 6-D.