The Union Design Pattern represents the abstraction of two or more (more) concrete representations. This representation of an abstraction is a fundamental concept in object-oriented design.
An introduction to design and software design, in order to set up an underlying, supportive foundation to help the reader recognize both the relevance and the advantages of software design.
This resource describes the common physical properties and the mathematical coordinate representations and algorithms to work with (i) the position, velocity and acceleration kinematics of serial robots, and (ii) their dynamics.