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Definition of "geometric Jacobian" |
the Jacobian (or more precisely the Jacobian matrix, but roboticists usually shorten it to simply Jacobian) is a mapping from velocities in joint space (generalized velocities) to velocities in Cartesian space. This mapping is written in the form υ=J(z)ż where υ is a six-dimensional vector of linear and angular velocities of the end-effector and ż is a vector of generalized velocities |
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