Jacobian Matrix Determination in a Novel Master Manipulator Device

This paper presents a method of Jacobian matrix determination basing on geometrical parameters of angular position master manipulator with limitless work range and no singularities, the device which construction had been developed as a part of PhD thesis of Author. A derivation process and final form of Jacobian matrix that allows to apply torques and velocities in given direction is also presented. The proof of presented master manipulator being free of singularities is shown as well. Also, a test stand and some research results are described.