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tr2jac

PURPOSE ^

TR2JAC Compute a Jacobian to map differentials between frames

SYNOPSIS ^

function J = tr2jac(t)

DESCRIPTION ^

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.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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

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