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Subsections
ReturnMatrix jacobian_dot(const int ref=0);
The manipulator Jacobian time derivative can be used to compute the end effector acceleration due to joints velocities [9]:
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(2.47) |
The Jacobian time derivative expressed in the base frame is given by [9]
![$\displaystyle ^0\dot{\mbox{\boldmath$ J $}}(\mbox{\boldmath$ q $},\dot{\mbox{\b...
...$ J $}}_n(\mbox{\boldmath$ q $},\dot{\mbox{\boldmath$ q $}})
\end{array}\right]$](img163.gif) |
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(2.48) |
with
where
and
are expressed in the base
frame and
is the vector cross product. Expressed in the
frame, the Jacobian time derivative is given by
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(2.51) |
This function returns
(i=0 when not specified).
Matrix
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Richard Gourdeau
2004-07-06