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Subsections
ReturnMatrix jacobian(const int ref=0);
The manipulator Jacobian defines the relation between the velocities in joint space
and in the Cartesian space
expressed in frame
:
or the relation between small variations in joint space
and small displacements in the Cartesian space
:
The manipulation Jacobian expressed in the base frame is given by
(see [8])
with
where
and
are expressed in
the base frame and
is the vector cross product. Expressed in
the
frame, the Jacobian is given by
This function returns
(
when not specified).
Matrix
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Richard Gourdeau
2004-07-06