We’ve talked Position and Velocity - lets talk about Forces. Specifically Statics.
This chapter covers
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Introduction of statics
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Understanding the “Kineto-statics duality”
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Becoming familiar with the notion of “manipulability”
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4.1 defines statics and some basic equations and principles
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4.2 gives a definition for Kineto-statics duality and describes the dangers of a singularity in more detail
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4.3 describes the equations to find an ellipsoid that describes the motion of a robot within some space