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Inverting Jacobian
Research/Robotics
2015. 4. 16. 11:14
We can invert the Jacobian to get the joint angles according to the spatial velocity.
(If the Jacobian is not singular)
For example in Puma560, the singular configuration occurs when the joint angle q5 equals to zero.
If the joint 4 and joint 6 rotate by counter direction, their movements compensate each other.
Under this circumstance, the end-effector pose of the Puma560 will not change!
A singular Jacobian matrix indicates that the end-effector motion is unable to move in a particular direction..
The jacobian is updated every time step.
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