Ball and socket joint's Jacobian matrix?

Asked Oct 22 '18 at 02:44

Active Oct 22 '18 at 07:26

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I'm trying to apply one of the IK methods, which is using the pseudo inverse of a jacobian matrix to my human skeleton I made in OpenGL. I've been using the following link, https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf

and I learned that the calculations of the entries of the Jacobian Matrix is fairly simple (page 5 of the link), using the equation

However, this equation is only when there's one DOF, and the rotation axis is v_j. For the case of 3 DOFs like the ball and socket joint, how do I set the entries of the Jacobian matrix?

Any help would be appreciated!

edited Oct 22 '18 at 07:26

BDL

21,052
22
49
55

asked Oct 22 '18 at 02:44

Peter

It's exactly the same. Just that you have 3 dofs now (corresponding to three separate columns in the Jacobian). – Nico Schertler Oct 22 '18 at 06:28
@Nico Schertler Thanks!! – Peter Oct 22 '18 at 06:29

Ball and socket joint's Jacobian matrix?

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