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

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The Jacobian Matrix for Parallel manipulators

How to derive the Jacobian matrix is well explained in chapter 4 of (Taghirad 2013) ([notes]({{< relref "taghirad13_paral" >}})). It is also well defined in (Merlet 2006).

Bibliography

Merlet, Jean-Pierre. 2006. “Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots.”

Taghirad, Hamid. 2013. Parallel Robots : Mechanics and Control. Boca Raton, FL: CRC Press.