Abstract
When deriving the dynamic equations of mechanical systems it is common to present the equations in matrix form in such a way that the different matrices, in particular the inertia and Coriolis matrices, possess certain properties. These properties are very useful when deriving control laws and in the stability proofs of these. The most important properties in robotics are the boundedness property of the inertia matrix and the skew symmetry property of the Coriolis matrix.
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