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Merge branch 'feature/Jacobian_sym' into 'main' 

Feature/jacobian sym

See merge request robotics/modern-robotics!3
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Rui 2024-01-07 03:11:18 +00:00
parent 876f5e64d5 abeadfdbb7
commit 21a459d8fc
2 changed files with 66 additions and 0 deletions
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33
packages/MATLAB/mr/JacobianBody_Sym.m Normal file
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function Jb = JacobianBody_Sym(Blist, thetalist)
% *** CHAPTER 5: VELOCITY KINEMATICS AND STATICS ***
% Takes 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 the screw axes as the columns,
% thetalist: A list of joint coordinates.
% Returns the corresponding body Jacobian (6xn real numbers).
% Example Input:
%
% clear; clc;
% Blist = [[0; 0; 1; 0; 0.2; 0.2], ...
% [1; 0; 0; 2; 0; 3], ...
% [0; 1; 0; 0; 2; 1], ...
% [1; 0; 0; 0.2; 0.3; 0.4]];
% thetalist = [0.2; 1.1; 0.1; 1.2];
% Jb = JacobianBody(Blist, thetalist)
%
% Output:
% Jb =
% -0.0453 0.9950 0 1.0000
% 0.7436 0.0930 0.3624 0
% -0.6671 0.0362 -0.9320 0
% 2.3259 1.6681 0.5641 0.2000
% -1.4432 2.9456 1.4331 0.3000
% -2.0664 1.8288 -1.5887 0.4000
Jb = sym(Blist);
T = sym(eye(4));
for i = length(thetalist) - 1: -1: 1
T = T * expm(VecTose3(-1 * Blist(:, i + 1) * thetalist(i + 1)));
Jb(:, i) = Adjoint(T) * Blist(:, i);
end
end

33
packages/MATLAB/mr/JacobianSpace_Sym.m Normal file
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function Js = JacobianSpace_Sym(Slist, thetalist)
% *** CHAPTER 5: VELOCITY KINEMATICS AND STATICS ***
% Takes Slist: The joint screw axes in the space frame when the manipulator
% is at the home position, in the format of a matrix with the
% screw axes as the columns,
% thetalist: A list of joint coordinates.
% Returns the corresponding space Jacobian (6xn real numbers).
% Example Input:
%
% clear; clc;
% Slist = [[0; 0; 1; 0; 0.2; 0.2], ...
% [1; 0; 0; 2; 0; 3], ...
% [0; 1; 0; 0; 2; 1], ...
% [1; 0; 0; 0.2; 0.3; 0.4]];
% thetalist = [0.2; 1.1; 0.1; 1.2];
% Js = JacobianSpace(Slist, thetalist)
%
% Output:
% Js =
% 0 0.9801 -0.0901 0.9575
% 0 0.1987 0.4446 0.2849
% 1.0000 0 0.8912 -0.0453
% 0 1.9522 -2.2164 -0.5116
% 0.2000 0.4365 -2.4371 2.7754
% 0.2000 2.9603 3.2357 2.2251
Js = sym(Slist);
T = sym(eye(4));
for i = 2: length(thetalist)
T = T * expm(VecTose3(Slist(:, i - 1) * thetalist(i - 1)));
Js(:, i) = Adjoint(T) * Slist(:, i);
end
end