what is the meaning about computeFrameJacobian? #2113
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According to the book <MODERN ROBOTICS,MECHANICS, PLANNING, AND CONTROL>,there are two types jacobian: space jacobian and body jacobian. If i pass the end effector frame id of robot arm to function computeFrameJacobian,does it calculate the body jacobian about the end effector? |
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Looking at the documentation of
The |
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You can also read more about these conventions in the section Frame options in Pinocchio of this lab notebook. |
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thx! |
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Looking at the documentation of
computeFrameJacobian, the fifth argument to the function is aReferenceFrameenumeration that can take the following values:WORLD: The WORLD frame convention corresponds to the frame concident with the Universe/Inertial frame but moving with the moving part (Joint, Frame, etc.).LOCAL: The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint, Frame, etc.) where the coordinates basis matches the local coordinates system associated with the moving part. It also called the BODY representation in the litterature.The
WORLDframe convention yields the space Jacobian, while theLOCALframe yields the body Jacobian.