MATLAB File Help: HebiKinematics/getJacobian |

HebiKinematics/getJacobian

getJacobian calculates the matrix that relates input joint velocities to body velocities. This method calculates the partial derivatives of the kinematics equation, which relates the joint velocities to the linear and angular velocities of each body in the kinematic chain. More background on Jacobians and kinematics can be found at: http://docs.hebi.us/core_concepts.html#kinematics 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 |