Derivative of Jacobian
Posted: Fri Jul 15, 2022 4:04 am
Hello!
I'm currently working with a Daisy Hexapod. I need to figure out a way to change the joint angles in order for the Jacobian matrix to behave a certain way.
For this I need a function that would output the derivative of the Jacobian Matrix with respect to the joint angles (6 by 3 by 3 matrix for one leg of the Daisy). I can realistically come up with this by getting the equation for the Jacobian as a symbolic function of the angles, and differentiating it to define the new function. Alternatively, I could also differentiate the Forward kinematics matrix twice and reach the same result.
However, I'm unable to find either of these matrices as symbolic functions within the documentation. If someone is aware of what either of these functions are, it would be very helpful. Alternatively, if someone knows how to differentiate the Jacobian matrix without worrying about the exact definition, it would also serve the same purpose. Thanks for your time
I'm currently working with a Daisy Hexapod. I need to figure out a way to change the joint angles in order for the Jacobian matrix to behave a certain way.
For this I need a function that would output the derivative of the Jacobian Matrix with respect to the joint angles (6 by 3 by 3 matrix for one leg of the Daisy). I can realistically come up with this by getting the equation for the Jacobian as a symbolic function of the angles, and differentiating it to define the new function. Alternatively, I could also differentiate the Forward kinematics matrix twice and reach the same result.
However, I'm unable to find either of these matrices as symbolic functions within the documentation. If someone is aware of what either of these functions are, it would be very helpful. Alternatively, if someone knows how to differentiate the Jacobian matrix without worrying about the exact definition, it would also serve the same purpose. Thanks for your time