Calculating Jacobian matrix
Posted: 11 Nov 2021, 08:24
Hello,
I'm a beginner in V-REP and I have been trying to make a custom controller which is including force control and PD control in Cartesian coordinate
For the first step, applying joint PD control of UR5 was successful, so I tried to get Jacobian matrix. In my case, I need Jacobian matrix for every step to calculate (J^T)F.
I read some documents as below:
https://www.coppeliarobotics.com/helpFi ... ements.htm
https://www.coppeliarobotics.com/helpFi ... Plugin.htm
https://forum.coppeliarobotics.com/viewtopic.php?t=5487
, however, I met a problem
I used sim.getIKGroupMatrix after making dummies in IK mode, an error occurred such that
- IK group does not exist. (in function 'sim.getIkGroupMatrix')
I upload my file that I'm working on, and I want to get feedback to calculate Jacobian matrix. The problem was in 134 row in child script
https://drive.google.com/file/d/1kOtjgf ... sp=sharing
Thanks
I'm a beginner in V-REP and I have been trying to make a custom controller which is including force control and PD control in Cartesian coordinate
For the first step, applying joint PD control of UR5 was successful, so I tried to get Jacobian matrix. In my case, I need Jacobian matrix for every step to calculate (J^T)F.
I read some documents as below:
https://www.coppeliarobotics.com/helpFi ... ements.htm
https://www.coppeliarobotics.com/helpFi ... Plugin.htm
https://forum.coppeliarobotics.com/viewtopic.php?t=5487
, however, I met a problem
I used sim.getIKGroupMatrix after making dummies in IK mode, an error occurred such that
- IK group does not exist. (in function 'sim.getIkGroupMatrix')
I upload my file that I'm working on, and I want to get feedback to calculate Jacobian matrix. The problem was in 134 row in child script
https://drive.google.com/file/d/1kOtjgf ... sp=sharing
Thanks