New to robotic arms here.
I am currently working with a 6-DOF robotic arm shown below:
I have derived the FWD Kinematics and mapped the joint angles and the resulting end-effector positions. When I try to implement an inverse-Jacobian controller (see figure below) to move the arm, it doesn't move to the target position. (But it does move so....there's something).
My transformation matrices look good. I believe I am misunderstanding the Jacobian matrices.
I have derived six different partial CoM Jacobians, one for each series of revolute joints. Assuming 0 is the arm's base each number corresponds to a link of the arm:
Jacobian matrix 1: 0-1
Jacobian matrix 2: 0-1-2
Jacobian matrix 3: 0-1-2-3
Jacobian matrix 4: 0-1-2-3-4
Jacobian matrix 5: 0-1-2-3-4-5
Jacobian matrix 6: 0-1-2-3-4-5-6
So I have six [6x6] Jacobian matrices, one for each joints CoM. Misunderstanding, I took only the partial Jacobian related to the end effector joint (0-1-2-3-4-5-6) and set it into the controller in the inv_J block which I believe is my issue.
My question is, how do I combine all of the Jacobian matrices to get a single [6x6] jacobian matrix that will provide the correct Jacobian inverse for the controller?