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84 lines
2.6 KiB
84 lines
2.6 KiB
%SerialLink.JACOB0 Jacobian in world coordinates
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%
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% J0 = R.jacob0(Q, OPTIONS) is the Jacobian matrix (6xN) for the robot in
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% pose Q (1xN). The manipulator Jacobian matrix maps joint velocity to
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% end-effector spatial velocity V = J0*QD expressed in the world-coordinate
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% frame.
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%
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% Options::
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% 'rpy' Compute analytical Jacobian with rotation rate in terms of
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% roll-pitch-yaw angles
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% 'eul' Compute analytical Jacobian with rotation rates in terms of
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% Euler angles
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% 'trans' Return translational submatrix of Jacobian
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% 'rot' Return rotational submatrix of Jacobian
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%
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% Note::
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% - The Jacobian is computed in the world frame and transformed to the
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% end-effector frame.
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% - The default Jacobian returned is often referred to as the geometric
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% Jacobian, as opposed to the analytical Jacobian.
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%
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% See also SerialLink.jacobn, jsingu, deltatr, tr2delta, jsingu.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function J0 = jacob0(robot, q, varargin)
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opt.rpy = false;
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opt.eul = false;
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opt.trans = false;
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opt.rot = false;
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opt = tb_optparse(opt, varargin);
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%
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% dX_tn = Jn dq
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%
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Jn = jacobn(robot, q); % Jacobian from joint to wrist space
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%
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% convert to Jacobian in base coordinates
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%
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Tn = fkine(robot, q); % end-effector transformation
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R = t2r(Tn);
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J0 = [R zeros(3,3); zeros(3,3) R] * Jn;
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if opt.rpy
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rpy = tr2rpy( fkine(robot, q) );
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B = rpy2jac(rpy);
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if rcond(B) < eps
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error('Representational singularity');
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end
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J0 = blkdiag( eye(3,3), inv(B) ) * J0;
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elseif opt.eul
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eul = tr2eul( fkine(robot, q) );
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B = eul2jac(eul);
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if rcond(B) < eps
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error('Representational singularity');
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end
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J0 = blkdiag( eye(3,3), inv(B) ) * J0;
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end
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if opt.trans
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J0 = J0(1:3,:);
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elseif opt.rot
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J0 = J0(4:6,:);
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end
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