TR2JAC Compute a Jacobian to map differentials between frames J = TR2JAC(T) Returns a 6x6 Jacobian matrix to map differentials (joint velocity) between frames related by the homogeneous transform T. See also: TR2DIFF, DIFF2TR.
0001 %TR2JAC Compute a Jacobian to map differentials between frames 0002 % 0003 % J = TR2JAC(T) 0004 % 0005 % Returns a 6x6 Jacobian matrix to map differentials (joint velocity) between 0006 % frames related by the homogeneous transform T. 0007 % 0008 % See also: TR2DIFF, DIFF2TR. 0009 0010 % Copyright (C) 1993-2008, by Peter I. Corke 0011 % 0012 % This file is part of The Robotics Toolbox for Matlab (RTB). 0013 % 0014 % RTB is free software: you can redistribute it and/or modify 0015 % it under the terms of the GNU Lesser General Public License as published by 0016 % the Free Software Foundation, either version 3 of the License, or 0017 % (at your option) any later version. 0018 % 0019 % RTB is distributed in the hope that it will be useful, 0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0022 % GNU Lesser General Public License for more details. 0023 % 0024 % You should have received a copy of the GNU Leser General Public License 0025 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0026 0027 function J = tr2jac(t) 0028 J = [ t(1:3,1)' cross(t(1:3,4),t(1:3,1))' 0029 t(1:3,2)' cross(t(1:3,4),t(1:3,2))' 0030 t(1:3,3)' cross(t(1:3,4),t(1:3,3))' 0031 zeros(3,3) t(1:3,1:3)' ]; 0032