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Calculating Geometric Jacobian using RoboDk
#1
Is there anyway to get the geometric Jacobian matrix for my robot using RoboDK API?
 Secondly, I am able to access the modified DH parameters of my robot using the RoboDK interface, do these DH parameters include the tool attached to my robot? If not how do I get the DH parameters with the tool included?

I have attached the DH table and my Robot for reference
       
#2
The tool is not part of this table, however, you could enter the pose of the tool frame in the Tool frame field. This is the pose of your flange with respect to the frame F6.

Also, keep in mind this is the Denavit Hartenberg Modified table (DHM, not DH).

It is not possible to extract the Jacobian matrix.
  




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