www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\jacob0.m
%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. % Copyright (C) 1999-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function J0 = jacob0(robot, q) % % dX_tn = Jn dq % Jn = jacobn(robot, q); % Jacobian from joint to wrist space % % convert to Jacobian in base coordinates % Tn = fkine(robot, q); % end-effector transformation R = t2r(Tn); J0 = [R zeros(3,3); zeros(3,3) R] * Jn;