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What is the dimension of the Jacobian of a robot with 9 actuators and 6 degrees of freedom? 6 x 9 is my guess but not sure. Can someone please explain ?

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Yes, 6x9. Since $$\dot{x} = J \dot{\theta}$$ each column of the Jacobian represents the differential change in one of the six $x$ coordinates with respect to each of the joints.

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