tr2jac
68
tr2jac
Purpose
Compute a Jacobian to map differential motion between frames
Synopsis
jac = tr2jac(T)
Description
tr2jac
returns a 6
× 6 Jacobian matrix to map differential motions or velocities between frames
related by the homogeneous transform
T
.
If
T
represents a homogeneous transformation from frame A to frame B,
A
T
B
, then
B
x
=
B
J
A
A
x
where
B
J
A
is given by
tr2jac(T)
.
See Also
tr2diff, diff2tr
References
R. P. Paul, Robot Manipulators: Mathematics, Programming, and Control.
Cambridge, Mas-
sachusetts: MIT Press, 1981.
Robotics Toolbox Release 8
Peter Corke, December 2008
Summary :
tr2jac 68 tr2jac Purpose Compute a Jacobian to map differential motion between frames Synopsis jac = tr2jac(T) Description tr2jac returns a 6 × 6 Jacobian matrix to map differential motions or velocities between frames related by the homogeneous transform T .
Tags :
tr2jac,map,homogeneous,frames,frame,between,tr2jact,differential,jacobian,synopsis,transformation,returns,release