Builds the Jacobian matrix for a linkage given the Denavit-Hartenberg parameters. The first entry in each array must be from the first link nearest ground. The Jacobian matrix relates the joint velocities to the end-effector velocity by .
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in), | dimension(:) | :: | alpha |
The link twist angles, in radians. This angle is the required rotation of the z(i-1) axis about the link's x-axis to become parallel with the link's z-axis. |
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| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | a |
The link lengths as measured along the link's x-axis. |
|
| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | theta |
The joint angles, in radians. This angle is the required rotation of the z(i-1) axis about the z(i-1) axis to become parallel with the link's x-axis. |
|
| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | d |
The joint offsets distance measured as the distance between the x(i-1) axis and the link's x-axis along the z(i-1) axis. |
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| integer(kind=int32), | intent(in), | dimension(size(alpha)) | :: | jtypes |
The types of each joint. Must be either REVOLUTE_JOINT or PRISMATIC_JOINT. The code defaults to REVOLUTE_JOINT. |
The resulting 6-by-N Jacobian matrix where N is the number of joint variables (i.e. the length of the input arrays).