jacobian.py File Reference

This module provides three classes representing the geometric, analytic and error jacobians of a manipulator. More...

Go to the source code of this file.

Classes
class	Analytic_Jacobian
	This class contains the standard analytic jacobian of a manipulator with required methods for calculating it. More...
class	Geometric_Jacobian
	Contains the Geometric jacobian of an end-effector that can be established of a number of reference positions (Task Points) or reference orientations (Task Frames) with methods for creating and calculating them. More...
class	Error_Jacobian
	Contains the Error Jacobian of an end-effector established from one or more reference positions (Task Points) or reference orientations (Task Framess) with required methods for creating and calculating it. More...

Namespaces
	magiks.jacobian.jacobian

Detailed Description

This module provides three classes representing the geometric, analytic and error jacobians of a manipulator.

Author

Nima Ramezani Taghiabadi

          PhD Researcher 
          Faculty of Engineering and Information Technology 
          University of Technology Sydney (UTS) 
          Broadway, Ultimo, NSW 2007, Australia 
          Phone No. :   04 5027 4611 
          Email(1)  : nima.ramezani@gmail.com 
          Email(2)  : Nima.RamezaniTaghiabadi@uts.edu.au 

Version

4.0

Last Revision: 11 January 2015

Definition in file jacobian.py.