雅可比

$$\ ^0 \boldsymbol{v} = \ ^0 J( \boldsymbol{\theta}) \dot{\boldsymbol{\theta}}$$

其中

$$\ ^0 \boldsymbol{v} = \left [ \begin{array}{} ^0 \boldsymbol{\nu} \\ ^0 \boldsymbol{\omega} \end{array} \right]$$

$$\boldsymbol{\theta} = \left [ \begin{array}{} \theta_1 \\ \theta_2 \\ \theta_3 \\ \theta_4 \\ \theta_5 \\ \theta_6 \end{array} \right]$$