Time derivative of jacobians #1907
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Classic and spatial accelerations just differ at the linear quantity level, where: You can manually compose all these expressions to get your results. Hope it helps you, |
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Hello, I have a question regarding Jacobian derivatives.
I am trying to compute the acceleration drift by multiplying the derivative of the Jacobian with the velocity. Specifically, I need to compute the derivative of the Jacobian such that it computes the acceleration drift when multiplied with the velocity, i.e., dJ*dq=a_drift.
Currently, I can obtain the acceleration drift by computing a=Jddq+dJdq using getFrameClassicalAcceleration with zero joint acceleration. However, I explicitly need the Jacobian derivative.
When I compute getJointJacobianTimeVariation, it provides me with a Jacobian derivative that computes the spacial acceleration. However, as far as I recall, this derivative does not include the w x w x r term (see https://en.wikipedia.org/wiki/Spatial_acceleration).
How can I obtain the actual dJ that computes the acceleration drift? I came across a similar issue in this Github discussion (#901), but it does not provide a sufficient answer regarding dJ.
I would appreciate your help.
Best regards,
Max
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