Here we document general robotics knowledge and resources for further study
t = r X F
Can be used to move a wrench from one place to another
https://en.wikipedia.org/wiki/Torque
http://free-cad.sourceforge.net/SrcDocu/dd/d9a/classKDL_1_1Wrench.html
Siciliano, Bruno, Oussama Khatib, and Torsten Kröger, eds. Springer handbook of robotics. Vol. 200. Berlin: springer, 2008. https://cloud.arcoslab.org/f/33372
Sciavicco, L., et al. "Robotics: Modelling, planning and control, ser. advanced textbooks in control and signal processing." (2011). https://cloud.arcoslab.org/f/82893
Thrun, Sebastian, Wolfram Burgard, and Dieter Fox. "Probalistic robotics." Kybernetes 35.7/8 (2006): 1299-1300. https://cloud.arcoslab.org/f/33350