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HebiKinematics/getJacobian

getJacobian calculates the matrix that relates input DoF velocities to body velocities This method calculates the partial derivatives of the kinematics equation, which relates the joint rates to the linear and angular velocity of each body in the kinematic configuration. The Jacobian is returned as a [6 x numDoF x numBodies] set of matrices. Rows 1:3 of the Jacobian correspond to linear velocities [m/s] along the X-Y-Z axes in the world frame, while rows 4:6 correspond to rotational velocities [rad/s] about the X-Y-Z axes in the world frame. 'FrameType' Argument 'OutputFrame' calculates the transforms to the output of each body ('out') 'CoMFrame' calculates the transforms to the center of mass of each body 'EndEffectorFrame' calculates the transform to only the output frame of the last body, e.g., a gripper 'Position' Argument A [1 x numDoF] vector that specifies the position of each degree of freedom. Rotational positions are specified in [rad]. Translational positions are specified in [m]. Example % End-Effector Jacobian using group feedback fbk = group.getNextFeedback(); J = kin.getJacobian('endEffector', fbk.position);

Method Details

Access | public |

Sealed | false |

Static | false |