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The Jacobian is the matrix of partial derivatives of a function. For robot arms, the Jacobian relates joint velocities to end-effector velocity. Jacobian Inverse Kinematic method is one method to solve inverse kinematic problems.

The Jacobian is the matrix of partial derivatives of a function.

For robot arms, the Jacobian relates joint velocities to end-effector velocity.

Jacobian Inverse Kinematic method is one method to solve inverse kinematic problems.

Jacobian method was largely used in robotics research so that a robot arm could reach an object of interest. This method is very powerful, but also has the potential to be computationally expensive and unstable if it is not understood well.

Jacobian methods have three main steps from a top-down perspective:

  1. Find the joint configurations: $T$

  2. Compute the change in rotations: $dO$

  3. Compute the Jacobian: $J$