A new dynamic manipulability ellipsoid for redundant manipulators

摘要

Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of veloci- ties, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-space accelerations. The case of manipulators in singular configurations is also analyzed. Two case studies are presented to illustrate the correctness of the proposed approach.