Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Sun, 05 Jun 2016 05:52:15 -0500Symbolic jacobian of an armhttp://answers.gazebosim.org/question/13542/symbolic-jacobian-of-an-arm/ Hi all,
I've a 7 DOF arm described in .xacro format and I would like to extrapolate its jacobian in symbolic form (not numerical angle values in the matrix ).
I tried to use KDL for this scope, and I was able to obtain the jacobian of this arm but in a numerical form. That is, during a gazebo simulation, I could read the values of each angles, insert them in the jacobian matrix with a specific kdl command, and obtain the jacobian matrix on every gazebo step time.
That's ok, but if I have another target in which I need the symbolic for of this jacobian from which extrapolate other matrix (inertial, coriolis ecc..), I'm not able to do this. (For example if I want to control my arm in a particular way in which I need the dynamic expression of the system).
Has anyone every have this problem? Is there a method with kdl or another software that I can use?
Thank you!gabri89Sun, 05 Jun 2016 05:52:15 -0500http://answers.gazebosim.org/question/13542/