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Published 20 hours ago • verified publisher icon UM-ARM-Lab

Wrong Jacobian matrix calculation for UR5

Open lidonghui-ai opened this issue 2 years ago • 1 comments

Using pytorch_kinematics to calculate the Jacobian matrix of UR5 robot seems to get the wrong answer. Is this because that Jacobian calculation assumes frame of child link is the same as the joint frame? Hope you can help me！ Thanks!

lidonghui-ai avatar Nov 30 '23 12:11 lidonghui-ai

Hi @lidonghui-ai , can you provide some sample code and what you expect?

LemonPi avatar Aug 28 '24 21:08 LemonPi