Jacobian in end-effector frame
JN = jacobn(R, Q, OPTIONS)
valid string
Return translational submatrix of Jacobian
Return rotational submatrix of Jacobian
JN = jacobn(R, Q, OPTIONS) is the Jacobian matrix (6xN) for the robot in pose Q. The manipulator Jacobian matrix maps joint velocity to end-effector spatial velocity V = JN*QD in the end-effector frame.
This Jacobian is often referred to as the geometric Jacobian.
[1] Differential Kinematic Control Equations for Simple Manipulators, Paul, Shimano, Mayer, IEEE SMC 11(6) 1981, pp. 456-460