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jacob0

PURPOSE ^

JACOB0 Compute manipulator Jacobian in world coordinates

SYNOPSIS ^

function J0 = jacob0(robot, q)

DESCRIPTION ^

JACOB0 Compute manipulator Jacobian in world coordinates

    J0 = JACOB0(ROBOT, Q)

 Returns a Jacobian matrix for the robot ROBOT in pose Q.

 The manipulator Jacobian matrix maps differential changes in joint space
 to differential Cartesian motion (world coord frame) of the end-effector.
         dX = J dQ

 For an n-axis manipulator the Jacobian is a 6 x n matrix.

 See also: JACOBN, DIFF2TR, TR2DIFF.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %JACOB0 Compute manipulator Jacobian in world coordinates
0002 %
0003 %    J0 = JACOB0(ROBOT, Q)
0004 %
0005 % Returns a Jacobian matrix for the robot ROBOT in pose Q.
0006 %
0007 % The manipulator Jacobian matrix maps differential changes in joint space
0008 % to differential Cartesian motion (world coord frame) of the end-effector.
0009 %         dX = J dQ
0010 %
0011 % For an n-axis manipulator the Jacobian is a 6 x n matrix.
0012 %
0013 % See also: JACOBN, DIFF2TR, TR2DIFF.
0014 
0015 
0016 % Copyright (C) 1999-2008, by Peter I. Corke
0017 %
0018 % This file is part of The Robotics Toolbox for Matlab (RTB).
0019 %
0020 % RTB is free software: you can redistribute it and/or modify
0021 % it under the terms of the GNU Lesser General Public License as published by
0022 % the Free Software Foundation, either version 3 of the License, or
0023 % (at your option) any later version.
0024 %
0025 % RTB is distributed in the hope that it will be useful,
0026 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0027 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0028 % GNU Lesser General Public License for more details.
0029 %
0030 % You should have received a copy of the GNU Leser General Public License
0031 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0032 
0033 function J0 = jacob0(robot, q)
0034     %
0035     %   dX_tn = Jn dq
0036     %
0037     Jn = jacobn(robot, q);    % Jacobian from joint to wrist space
0038 
0039     %
0040     %  convert to Jacobian in base coordinates
0041     %
0042     Tn = fkine(robot, q);    % end-effector transformation
0043     R = t2r(Tn);
0044     J0 = [R zeros(3,3); zeros(3,3) R] * Jn;

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