I need to matrix multiplication in symbolic form. I use this to determine inverse kinematics of a robot arm. So matrixes have trigonometric function and I need to multiply those matrixes as the symbol...

I'm trying to calculate angular velocity of each axis by movement of end-effector, If S1 and S2 is finite screw, and S2 had infinitesimal movement from S1. Also, let S1_ be (-)array of S1 and instanta...