+++
title = "Jacobian"
author = ["Thomas Dehaeze"]
draft = false
+++

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## 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.