I’m working with a Simscape model and I’m trying to get a numerical or possibly analytical form Jacobian for my system (given specific frames).
Actually I’m using multibody, but problem could be of general interest. Better if using geometrical approach. I know that some toolbox already perform same operation and give it using geometrical approch.
I tought using a numerical differentiation would be an answer, but is by far too complex, heavy and clumsy to carrry out for my purpose, thus I was looking for an alternative method to be used in one single run.I’m working with a Simscape model and I’m trying to get a numerical or possibly analytical form Jacobian for my system (given specific frames).
Actually I’m using multibody, but problem could be of general interest. Better if using geometrical approach. I know that some toolbox already perform same operation and give it using geometrical approch.
I tought using a numerical differentiation would be an answer, but is by far too complex, heavy and clumsy to carrry out for my purpose, thus I was looking for an alternative method to be used in one single run. I’m working with a Simscape model and I’m trying to get a numerical or possibly analytical form Jacobian for my system (given specific frames).
Actually I’m using multibody, but problem could be of general interest. Better if using geometrical approach. I know that some toolbox already perform same operation and give it using geometrical approch.
I tought using a numerical differentiation would be an answer, but is by far too complex, heavy and clumsy to carrry out for my purpose, thus I was looking for an alternative method to be used in one single run. simscape, jacobian MATLAB Answers — New Questions

​