Unknown type of joint in jacobian computation

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Figure 3. Flowchart of the forward kinematics calculation. The second type of kinematic problem is when the desired position is known, but the required actuator length or position is unknown. Analytical solution is available, and it is very simple. The calculation is very fast and efficient because of this. The inverse and forward kinematics. The joints' constraints Jacobian matrix C q is dependent on the type of the joint connection. The detailed formulation of the joint constraints equations are presented in refs. [17, 18]. 2.1.3. analytical (str) - the type of analytical Jacobian to use, default is 'rpy/xyz' Returns. The operational space gravity wrench.
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