Thread: Need help on vector geometry..

hi,

i'm doing project on robotics...and i've some equations to be considered.... i'm not well in maths.. can you explain the conditions given in eqn like [2], [4] & [6] in the attachment below...something like scalar product and set of vectors in half plane... but sure can you clarify or point me direction...

thx in advance...


http://www.ensieta.fr/jaulin/paper_k...iable_comp.pdf

here is the attachment....