4. Using Jacobian matrices
The Jacobian matrix J and its inverse G or J – 1 have fundamental applications in mechanism analysis and control.
4.1 Calculating static forces
From the kinematic model, we can write the differential model :
Let's assume that the variables q i are directly the variables associated with the relative displacements of the rotary or linear motors. Each of these exerts a force or torque noted γ i , hence for all degrees of freedom a vector of forces
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Using Jacobian matrices
Dynamic control
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