www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\tr2jac.m
%TR2JAC Compute a Jacobian to map differentials between frames % % J = TR2JAC(T) % % Returns a 6x6 Jacobian matrix to map differentials (joint velocity) between % frames related by the homogeneous transform T. % % See also: TR2DIFF, DIFF2TR. % Copyright (C) 1993-2008, 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 J = tr2jac(t) J = [ t(1:3,1)' cross(t(1:3,4),t(1:3,1))' t(1:3,2)' cross(t(1:3,4),t(1:3,2))' t(1:3,3)' cross(t(1:3,4),t(1:3,3))' zeros(3,3) t(1:3,1:3)' ];