Chapter 5: Velocity Kinematics and Statics

Functions
const arma::mat	mr::JacobianBody (const std::vector< arma::vec6 > &Blist, const arma::vec &thetalist)
	Computes the body Jacobian for an open chain robot. More...
const arma::mat	mr::JacobianSpace (const std::vector< arma::vec6 > &Slist, const arma::vec &thetalist)
	Computes the space Jacobian for an open chain robot. More...

Detailed Description

Function Documentation

JacobianBody()

const arma::mat mr::JacobianBody	(	const std::vector< arma::vec6 > &	Blist,
		const arma::vec &	thetalist
	)

Computes the body Jacobian for an open chain robot.

Parameters

Blist	The joint screw axes in the end-effector frame when the manipulator is at the home position, in the format of a matrix with axes as the columns
thetalist	A list of joint coordinates

Returns

The body Jacobian corresponding to the inputs (6xn real numbers)

JacobianSpace()

const arma::mat mr::JacobianSpace	(	const std::vector< arma::vec6 > &	Slist,
		const arma::vec &	thetalist
	)

Computes the space Jacobian for an open chain robot.

Parameters

Slist	The joint screw axes in the space frame when the manipulator is at the home position, in the format of a matrix with axes as the columns
thetalist	A list of joint coordinates

Returns

The space Jacobian corresponding to the inputs (6xn real numbers)