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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of jacob0</title> <meta name="keywords" content="jacob0"> <meta name="description" content="JACOB0 Compute manipulator Jacobian in world coordinates"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > jacob0.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>jacob0</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>JACOB0 Compute manipulator Jacobian in world coordinates</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function J0 = jacob0(robot, q) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">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: <a href="jacobn.html" class="code" title="function J = jacobn(robot, q)">JACOBN</a>, <a href="diff2tr.html" class="code" title="function delta = diff2tr(d)">DIFF2TR</a>, <a href="tr2diff.html" class="code" title="function d = tr2diff(t1, t2)">TR2DIFF</a>.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="fkine.html" class="code" title="function t = fkine(robot, q)">fkine</a> FKINE Forward robot kinematics for serial link manipulator</li><li><a href="jacobn.html" class="code" title="function J = jacobn(robot, q)">jacobn</a> JACOBN Compute manipulator Jacobian in end-effector frame</li><li><a href="t2r.html" class="code" title="function R = tr2rot(T)">t2r</a> TR2ROT Return rotational submatrix of a homogeneous transformation</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="cinertia.html" class="code" title="function Mx = cinertia(robot, q)">cinertia</a> CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix</li><li><a href="ikine.html" class="code" title="function qt = ikine(robot, tr, q, m)">ikine</a> IKINE Inverse manipulator kinematics</li><li><a href="maniplty.html" class="code" title="function w = maniplty(robot, q, which)">maniplty</a> MANIPLTY Manipulability measure</li></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%JACOB0 Compute manipulator Jacobian in world coordinates</span>0002 <span class="comment">%</span>0003 <span class="comment">% J0 = JACOB0(ROBOT, Q)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Returns a Jacobian matrix for the robot ROBOT in pose Q.</span>0006 <span class="comment">%</span>0007 <span class="comment">% The manipulator Jacobian matrix maps differential changes in joint space</span>0008 <span class="comment">% to differential Cartesian motion (world coord frame) of the end-effector.</span>0009 <span class="comment">% dX = J dQ</span>0010 <span class="comment">%</span>0011 <span class="comment">% For an n-axis manipulator the Jacobian is a 6 x n matrix.</span>0012 <span class="comment">%</span>0013 <span class="comment">% See also: JACOBN, DIFF2TR, TR2DIFF.</span>0014 0015 0016 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0017 <span class="comment">%</span>0018 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0019 <span class="comment">%</span>0020 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0021 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0022 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0023 <span class="comment">% (at your option) any later version.</span>0024 <span class="comment">%</span>0025 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0026 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0027 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0028 <span class="comment">% GNU Lesser General Public License for more details.</span>0029 <span class="comment">%</span>0030 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0031 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0032 0033 <a name="_sub0" href="#_subfunctions" class="code">function J0 = jacob0(robot, q)</a>0034 <span class="comment">%</span>0035 <span class="comment">% dX_tn = Jn dq</span>0036 <span class="comment">%</span>0037 Jn = <a href="jacobn.html" class="code" title="function J = jacobn(robot, q)">jacobn</a>(robot, q); <span class="comment">% Jacobian from joint to wrist space</span>0038 0039 <span class="comment">%</span>0040 <span class="comment">% convert to Jacobian in base coordinates</span>0041 <span class="comment">%</span>0042 Tn = <a href="fkine.html" class="code" title="function t = fkine(robot, q)">fkine</a>(robot, q); <span class="comment">% end-effector transformation</span>0043 R = <a href="t2r.html" class="code" title="function R = tr2rot(T)">t2r</a>(Tn);0044 J0 = [R zeros(3,3); zeros(3,3) R] * Jn;</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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