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?

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:

https://realitybytes.blog/2017/06/20/forward-and-inverse-kinematics-jacobians-and-differential-motion/