Jacobian transpose velocity trajectories

This function simulates a trajectory specified by the velocity relationship Overscript[θ, .] = J^TOverscript[x, .], where J^T is the transpose of the Jacobian. The function arguments are: dh = list of DH parameters, pick = a list of length six of 0s and 1s, which specifies which rows of the Jacobian to use, traj = desired end-effetor velocity trajectory (as a function of t), initial = a list of initial joint angles for θ, and time = the simulation length (0, time).

SimulateTransposeJacobianVelocityTrajectory[dh_, pick_, traj_, initial_, time_:1] := <br />&nb ... sp; SimulateVelocityTrajectory[jt, dh, traj, initial, time] <br />    ] ;

Created by Mathematica  (October 21, 2003)