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Robotics

This block computes the Jacobian matrix for a robot object `robot` in the pose `q` and as expressed in the end-effector coordinate frame.

This block has one regular input. It represent the set of joint coordinates `q` and therefore the number of its elements must equal the number of `robot`'s consituent links (`n`).

This block has one regular output.

You can specify as block parameter the robot model `robot` for which you want compute the Jacobian matrix in end-effector coordinate frame.

Robot jacobian for end-effector coordinates | |

Robot object | rt_robot() |

- Robot object : robot object. It represents the robot model to be simulated. Note that this variable is a symbolic parameter which has to be defined in the context of the Scicos diagram, in order that it can be used.

- always active:
**no** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**1 / [-1,1]** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**1 / [6,-1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_jacobn_cf5**

<PATH>/macros/rt_jacobn_if.sci[view code]

<PATH>/macros/rt_jacobn_cf5.sci[view code]

` rt_jacob0_if`,

Corke, P.I. "A Robotics Toolbox for MATLAB", *IEEE Robotics and Automation Magazine*, Volume 3(1), March 1996, pp. 24-32