jacob

RTSX Help: Jacobean computation

jacob0

jacobn

Compute Jacobian that maps joint velocity to base or end-effector spatial velocity

Syntax

  • J0 = jacob0(robot, q, options)  
  • Jn = jacobn(robot, q, options)  

Input Arguments

  • robot –a robot model to modify
  • q –a 1 x nq vector of joint variable values, where nq = number of joint variables

Output Arguments

  • J0, Jn — 6 x nq Jacobian matrix

Options

  • ‘rpy’ — compute analytical Jacobian with rotation rate in terms of roll-pitch-yaw angles
  • ‘eul’ — compute analytical Jacobian with rotation rate in terms of Euler angles
  • ‘trans’ — return translational submatrix of Jcobian
  • ‘rot’ — return rotational submatrix of Jacobian

Description

J0 = jacob0(robot, q, options) is the Jacobian matrix (6 x nq) for the robot in pose q (1 x nq). The manipulator Jacobian matrix maps joint velocity to end-effector spatial velocity V = J0*QD expressed in the world-coordinate frame.

Jn = jacobn(robot, q, options) is the Jacobian matrix (6 x nq) for the robot in pose q (1 x nq). The manipulator Jacobian matrix maps joint velocity to end-effector spatial velocity V = JN*QD in the end-effector frame.

Examples

-->exec('./models/mdl_puma560.sce',-1);   // create p560 robot model
 -->J0 = jacob0(p560,q_n)
 J0  =
    0.15005      0.0143543    0.3196830    0.           0.    0.  
    0.5963031    0.           0.           0.           0.    0.  
    0.           0.5963031    0.2909744    0.           0.    0.  
    0.           0.           0.           0.7071068    0.    1.  
    0.         - 1.         - 1.           0.         - 1.    0.  
    1.           0.           0.         - 0.7071068    0.    0.  
 
-->Jn = jacobn(p560,q_n)
 Jn  =
    0.         - 0.5963031  - 0.2909744    0.           0.    0.  
    0.5963031    0.           0.           0.           0.    0.  
    0.15005      0.0143543    0.3196830    0.           0.    0.  
  - 1.           0.           0.           0.7071068    0.    0.  
    0.         - 1.         - 1.           0.         - 1.    0.  
    0.           0.           0.           0.7071068    0.    1.

See Also

  • delta2tr, tr2delta — Convert between differential motion and homogeneous transform
  • tr2jac, eul2jac, rpy2jac — Compute Jacobian from homogeneous transform, euler, or RPY angles