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I am getting started with a research paper that discusses the closure properties of a robotic grasp. There are of lot of mathematical terms that confuse me like 'convex hull' , convex basis, convex combination of vectors, a free subset, nullspace etc. I might have studied some of them in University mathematics but that seems a long ago. Could you please suggest me places where should I start looking for concept building ? Any good tutorials or books?

Thank you ! :)

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# Guidance: Convex hull, null space and convex basis etc

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