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+--- Thread: Calculating Geometric Jacobian using RoboDk (/Thread-Calculating-Geometric-Jacobian-using-RoboDk)
Calculating Geometric Jacobian using RoboDk-aryanzayn-01-18-2022
Is there anyway to get the geometric Jacobian matrix for my robot using RoboDK API?
Secondly, I am able to access the modified DH parameters of my robot using the RoboDK interface, do these DH parameters include the tool attached to my robot? If not how do I get the DH parameters with the tool included?
I have attached the DH table and my Robot for reference
RE: Calculating Geometric Jacobian using RoboDk-Albert-01-19-2022
The tool is not part of this table, however, you could enter the pose of the tool frame in the Tool frame field. This is the pose of your flange with respect to the frame F6.
Also, keep in mind this is the Denavit Hartenberg Modified table (DHM, not DH).
不可能提取雅可比矩阵。