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Thread Subject: Robotics

Subject: Robotics

From: Nate W

Date: 27 Aug, 2008 21:27:01

Message: 1 of 1

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Hi All,

I want to manually build the jacobian matrix for a point
(effector) in 3d space(translation only) and a single joint
(3 dof rotation only).

I believe that the following Matlab pseudo code would work
for a single column of the jacobian matrix but I was
hoping I could get someone to confirm.
---------------------------------
effector = [point1, point2, point3];
jointPivotPoint = [point4, point5, point6];
xAxis = [1,0,0];
jacobiColumnXAxis = cross(xAxis, effector-jointPivotPoint);
jacobiColumnXAxis'

//repeat for each axis.
//The 3 resulting vectors be the columms of the
//3x3 jacobian matrix.
----------------------------------

Will this work?

Thanks in advance, Nate.

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