link1: http://staff.ustc.edu.cn/~dinggj/lectures/mechanics/Chapter4.pdf
link2: http://staff.ustc.edu.cn/~leeyoung1987/Mechanics2023Fall/ch2.pdf
Note: http://home.ustc.edu.cn/~richardzheng/phys/TM.pdf
link1: https://studywolf.wordpress.com/2013/09/17/robot-control-4-operation-space-control/