I am going through this Robot Rigid Body Tree tutorial. I have defined UR5 robot and calculated the transformation matrix using the getTransfrom and verified with the transformation matrix I got by calculating on paper.
I also calculated the Jacobian using the definition for a revolute joint as given here. When I used the geometric Jacobain function, it gives me a different Jacobian. I went thru the definition and MATLAB has interchanged the linear velocity Jacobian and angular velocity Jacobian, however, the values should remain the same. But it is not so! How does MATLAB calculate the Jacobian for a robotic rigid body tree structure?
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