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+title = "Jacobian"
+author = ["Thomas Dehaeze"]
+draft = false
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+
+Tags
+:
+
+
+## The Jacobian Matrix for Parallel manipulators {#the-jacobian-matrix-for-parallel-manipulators}
+
+How to derive the Jacobian matrix is well explained in chapter 4 of ([Taghirad 2013](#org6a92616)) ([notes]({{< relref "taghirad13_paral" >}})).
+It is also well defined in ([Merlet 2006](#org6d3f9cc)).
+
+
+## Bibliography {#bibliography}
+
+<a id="org6d3f9cc"></a>Merlet, Jean-Pierre. 2006. “Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots.”
+
+<a id="org6a92616"></a>Taghirad, Hamid. 2013. _Parallel Robots : Mechanics and Control_. Boca Raton, FL: CRC Press.