# Tag Info

0

Well, the answer is quite straight forward. With the given equation $T^n_0 = \ldots$ you calculate the transformation from the $n^\mathrm{th}$ coordinate frame (attached to the end effector) to the inertial coordinate frame. Just imagine you want to know the Jacobian from the joint $n-1$, you do the exact same procedure. Calculate $T^{n-1}_0 = \ldots$ ...

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I believe you refer to first order partial derivatives. It is as easy as to take the forward kinematics from T0n , where n is the point to where you want to take the partial jacobian matrix and do the same of the first order partial derivatives.

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I'm unable to comment due to reps shortage, so, I'm adding it as an answer. This might answer your question. In your new attempt, the transformation of axes from origin-1 (i.e. $x_1, y_1, z_1$) to origin-2 ($x_2, y_2, z_2$) is incorrect as $x_2 \not\perp z_1$ and $x_2 \not\cap z_1$, violating DH convention. PS: It would be better if you could update your ...

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There are 2 main rules in assigning frames following DH convention: source: Robot Modeling and Control, Spong et. al $x_i \perp z_{i-1}$ $x_i$ intersects $z_{i-1}$ In your attempts, Your first attempt is incorrect as your $z_2$ axis is not in the direction of actuation of the prismatic joint. I'm not clear on your second attempt as $x_1$ appears to be ...

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