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Geometric Jacobian for robot configuration

**Library:**Robotics System Toolbox / Manipulator Algorithms

The Get Jacobian block returns the geometric Jacobian relative to the
base for the specified end effector at the given configuration of a `rigidBodyTree`

robot model.

The Jacobian maps the joint-space velocity to the end-effector velocity relative to the base coordinate frame. The end-effector velocity equals:

*ω* is the angular velocity, *υ* is the linear
velocity, and is the joint-space velocity.

- Forward Dynamics | Get Transform | Gravity Torque | Inverse Dynamics | Joint Space Mass Matrix | Velocity Product Torque