jacobn
33
jacobn
Purpose
Compute manipulator Jacobian in end-effector coordinates
Synopsis
jacobn(robot, q)
Description
jacobn
returns a Jacobian matrix for the robot object
robot
in the pose
q
and as expressed in the
end-effector coordinate frame.
The manipulator Jacobian matrix,
0
J
q
, maps differential velocities in joint space,
q, to Cartesian
velocity of the end-effector expressed in the end-effector coordinate frame.
n
x
=
n
J
q
(q) q
The relationship between tool-tip forces and joint torques is given by
=
n
J
q
(q)
n
F
For an n-axis manipulator the Jacobian is a 6
× n matrix.
See Also
jacob0, diff2tr, tr2diff, robot
References
R. P. Paul, B. Shimano and G. E. Mayer.
Kinematic Control Equations for Simple Manipulators.
IEEE Systems, Man and Cybernetics 11(6), pp 449-455, June 1981.
Robotics Toolbox Release 8
Peter Corke, December 2008
Summary :
jacobn 33 jacobn Purpose Compute manipulator Jacobian in end-effector coordinates Synopsis jacobn(robot, q) Description jacobn returns a Jacobian matrix for the robot object robot in the pose q and as expressed in the end-effector coordinate frame.
Tags :
endeffector,jacobian,manipulator,matrix,robot,jacobn,joint,coordinate,frame,expressed,forces,449455,synopsis