The analytical jacobian is directly differential from forward kinematic,
and geometric jacobian is considered the geometric relation. The important point is that angular velocity does not have an integral like associated term like "angular position".
ANALYTICAL JACOBIAN
differential quantities in the operational space.
GEOMETRICAL JACOBIAN
quantities of clear physical meaning.
ANALYTICAL JACOBIAN
differential quantities in the operational space.
GEOMETRICAL JACOBIAN
quantities of clear physical meaning.
