I am trying to construct a controler for a UR5e robot, I have a simulation of the robot in maplesim and have started to look for a way to use multibody analysis to provide me with the Jacobian. However it only provieds the constraint Jacobian and as I have no position constraints on the robot, it returns nothing.
I then came across
A Design Example in MapleSim: Controlling a Robot using Feedback Linearization
However it is old and does not exactly say how to do it.
So I thought I should ask this wonderful comunity if they have an recomended way to construct the Jacobian from a maplesimmodel? I am still a beginner at maplesim and maple so any help is appreciated.
With thanks for helping me