I try to understand jacobian for robot control. I want to precisely understand how to build that matrix. Can someone advice me course which explain how to create that matrix on a simple sample?

An other question about that matrix, I read that this matrix had to be process every step. Is it true?


1 Answer 1


Jacobian matrix is used to describe the relationship between the configuration space (space of joint angles) and the task space (space of end-effector pose) as follows:

$\textbf{$\dot{p}$} = \textbf{J(q)}\textbf{$\dot{q}$}$,

where $\textbf{J(q)}$ is the Jacobian matrix, $\textbf{p}$ and $\textbf{q}$ are vectors represented for the end-effector pose and joint angles, respectively.

Several tutorials:




You can do further searching with keywords: Denavit–Hartenberg, kinematics modeling, etc.

  • $\begingroup$ "Jacobian matrix is used to describe the relationship between the configuration space (joint angles) and the task space (end-effector pose)": that's not correct as the relation needs to be intended in the differential manner, hence relating the joint velocities and the end-effector velocities. Please, amend your answer. $\endgroup$ Commented Apr 22, 2021 at 18:10
  • 2
    $\begingroup$ thanks, just added extra terms to make it clear. $\endgroup$
    – Karim
    Commented Apr 23, 2021 at 6:46

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