Comments (4)
JunzheJosephZhu
commented on May 23, 2024
1
Thanks for the clarification! I'm just learning kinematics and trying to verify that my understanding of things is correct.
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neka-nat
commented on May 23, 2024
Hi,
By "body frame" you mean the root link?
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JunzheJosephZhu
commented on May 23, 2024
No, let me put it this way:
It seems that right now the jacobian is the derivative of root link's coordinate expressed in end effector frame, with respect to the joint positions. Is this correct?
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neka-nat
commented on May 23, 2024
That's correct!
If you have any suggestions on implementation, please let me know.
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