Home > subfunctions > ccl_rob_jacobian.m

ccl_rob_jacobian

PURPOSE

J = ccl_rob_jacobian (q,L)

SYNOPSIS

function J = ccl_rob_jacobian (q, L)

DESCRIPTION

 J = ccl_rob_jacobian (q,L)
 Jacobian calculation
 Input:
   q               Joint state variable
   L               Link length
 Output:
   J               Jacobian

CROSS-REFERENCE INFORMATION

This function calls:

This function is called by:

ccl_rob_vis_sbs ccl_rob_vis_sbs (settings)

SOURCE CODE

0001 function J = ccl_rob_jacobian (q, L)
0002 % J = ccl_rob_jacobian (q,L)
0003 % Jacobian calculation
0004 % Input:
0005 %   q               Joint state variable
0006 %   L               Link length
0007 % Output:
0008 %   J               Jacobian
0009 J(1,1) = -L(1)*sin(q(1,:)) - L(2)*sin(q(1,:)+q(2,:)) ;
0010 J(1,2) =                   - L(2)*sin(q(1,:)+q(2,:)) ;
0011 J(2,1) =  L(1)*cos(q(1,:)) + L(2)*cos(q(1,:)+q(2,:)) ;
0012 J(2,2) =                     L(2)*cos(q(1,:)+q(2,:)) ;
0013 end