Jacobian in world coordinates
J0 = jacob0(R,Q, OPTIONS)
valid string
J0 = jacob0(R,Q, OPTIONS) is the Jacobian matrix (6xN) for the robot in pose Q (1xN). The manipulator Jacobian matrix maps joint velocity to end-effector spatial velocity V = J0*QD expressed in the world-coordinate frame.
The Jacobian is computed in the world frame and transformed to the end-effector frame.
The default Jacobian returned is often referred to as the geometric Jacobian, as opposed to the analytical Jacobian.