Robotics/Task_Level_Controller_6_Axis_Robots/jacobian_plot.m at master · anilharish/Robotics · GitHub

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function [J]=jacobian_plot(q)
J(1,1)= 0.02032*sin(q(1))*cos(q(2)+q(3)) - 0.43307*sin(q(1))*sin(q(2)+q(3)) - 0.4318*sin(q(1))*cos(q(2)) -0.14909*cos(q(1));
J(1,2)= 0.02032*cos(q(1))*sin(q(2)+q(3)) + 0.43307*cos(q(1))*cos(q(2)+q(3)) - 0.4318*cos(q(1))*sin(q(2));
J(1,3)= 0.02032*cos(q(1))*sin(q(2)+q(3)) + 0.43307*cos(q(1))*cos(q(2)+q(3));

J(2,1)= -0.02032*cos(q(1))*sin(q(2)+q(3)) + 0.43307*cos(q(1))*sin(q(2)+q(3)) + 0.4318*cos(q(1))*cos(q(2)) - 0.14909*sin(q(1));
J(2,2)= 0.02032*sin(q(1))*sin(q(2)+q(3)) + 0.43307*sin(q(1))*cos(q(2)+q(3)) - 0.4318*sin(q(1))*sin(q(2));
J(2,3)= 0.02032*sin(q(1))*sin(q(2)+q(3)) + 0.43307*sin(q(1))*cos(q(2)+q(3));

J(3,1)= 0;
J(3,2)= 0.02032*cos(q(2)+q(3)) - 0.43307*sin(q(2)+q(3)) - 0.4318*cos(q(2));
J(3,3)= 0.02032*cos(q(2)+q(3)) - 0.43307*sin(q(2)+q(3));
end