[AMR] updated first 4.5 sections

electives/amr/parts/01_kinematics/01_forward.tex

@@ -11,7 +11,8 @@ $ \begin{bmatrix}
 Workspace $W$: $\theta_1, \theta_2 \in [-\pi, \pi]$.
 \bi{Computation} Similar for $n$R sys (more angles, more lengths).
 Last dim is typically sum of angles (or equiv).
-\bi{For velocity kinematics}: Comp. Jacobian of this $nD$ position ($nD$ pos is vec). ${_W}\vec{t}_{WE} \mat{J}(\vec{\theta}) \cdot \vec{\dot{\theta}}$
-\bi{Jacobian}: see \ref{sec:ms-lin}.
+\bi{For velocity kinematics}: See \ref{sec:manipulator-velocity-kinematics}. 
+% Comp. Jacobian of this $nD$ position ($nD$ pos is vec). ${_W}\vec{t}_{WE} \mat{J}(\vec{\theta}) \cdot \vec{\dot{\theta}}$
+% \bi{Jacobian}: see \ref{sec:ms-lin}.
 
 \shortdefinition[Singularity] Loss of deg of Freedom $\det(\mat{J}(\vec{\theta})) = 0$