Move one function

kinematics/index.org

@@ -115,7 +115,7 @@ For inverse kinematic analysis, it is assumed that the position ${}^A\bm{P}$ and
 From the geometry of the manipulator, the loop closure for each limb, $i = 1, 2, \dots, 6$ can be written as
 \begin{align*}
   l_i {}^A\hat{\bm{s}}_i &= {}^A\bm{A} + {}^A\bm{b}_i - {}^A\bm{a}_i \\
-                                 &= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i
+                         &= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i
 \end{align*}
 
 To obtain the length of each actuator and eliminate $\hat{\bm{s}}_i$, it is sufficient to dot multiply each side by itself: