Returns the time derivative of the Jacobian matrix for the robot at the specified joint positions, joint velocities, and TCP offset.

Parameters

q: (Optional) List of joint space position. If not specified, uses the robot's current joint positions.

qd: (Optional) List of joint space velocities. If not specified, uses the robot's current joint velocities.

tcp: (Optional) Pose of the TCP offset. If not specified, uses the active TCP offset.

Return Value

The time derivative of the Jacobian matrix.