rt_jacobn - compute manipulator Jacobian in end-effector coordinate frame[view code]

Calling Sequence

Jn = rt_jacobn(robot, q)

Parameters

• robot : robot object. It describes the n-link manipulator kinematics and dynamics.
• q : n-element vector. A joint state vector for the robot robot.
• Jn : 6-by-n matrix. Jacobian matrix for the robot robot in the pose q and as expressed in the end-effector coordinate frame.

Description

This function 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 maps differential velocities in the joint space to Cartesian velocity of the end-effector expressed in the end-effector coordinate frame.

Examples

   // The following code shows how to use rt_jacobn() to compute the
   // Jacobian matrix for a Puma 560 robot given an arbitrary pose q,
   // as expressed in the end-effector coordinate frame.

   // load Puma 560 parameters
   exec <PATH>/models/rt_puma560.sce;

   // pose definition
   q = [0.1, 0.75, -2.25, 0, 0.75, 0];

   // Jacobian matrix computation in the end-effector coordinate frame
   Jn = rt_jacobn(p560, q);
   disp(Jn);                    // display the 6-by-6 Jacobian matrix
   
  

See Also

rt_jacob0,  rt_diff2tr,  rt_tr2diff,  rt_robot,  

Authors

original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa

Bibliography

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

R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.