Comparisons of Six Methods for Calculating Jacobian Matrices of Reconfigurable Robots

To meet demands of the market and customers, a novel reconfigurable robot model is developed, and the Jacobian matrix is computed for singularity analysis. It is important to select the most appropriate method with the minimum complexity for this calculation. Six different algorithms for Jacobian matrix calculations are verified and compared. The procedure of using each method is analyzed, and the most suitable one for our reconfigurable robot model is selected.