Efficient computation method of Jacobian matrix

As well known, the elements of the Jacobian matrix are complex trigonometric functions of the joint angles, resulting in a matrix of staggering complexity when we write it all out in one place. This article addresses that difficulties to this subject are overcome by using velocity representation. The main point is that its recursive algorithm and computer algebra technologies allow us to derive analytical formulation with no human intervention. Particularly, it is to be noted that as compared to previous results the elements are extremely simplified throughout the effective use of frame transformations. Furthermore, in case of a spherical wrist, it is shown that the present approach is computationally most efficient. Due to such advantages, the proposed method is useful in studying kinematically peculiar properties such as singularity problems. (author)