In robot kinematics, the manipulability ellipsoid represents the manipulability of a robotic system in a graphical form. Here, the manipulability of a robot arm refers to its ability to alter the position of the end effector based on the joint configuration. A higher manipulability measure signifies a broader range of potential movements in that specific configuration. When the robot is in a singular configuration the manipulability measure diminishes to zero.
Definition
editThe manipulability ellipsoid is defined as the set[1]
where q is the joint configuration of the robot and J is the robot Jacobian relating the end-effector velocity with the joint rates.
Geometric Interpretation
editA geometric interpretation of the manipulability ellipsoid is that it includes all possible end-effector velocities normalized for a unit input at a given robot configuration. The axis of the ellipsoid can be computed by using the singular value decomposition of the robot Jacobian.[1][2]
References
edit- ^ a b Spong, M.W.; Hutchinson, Seth; Vidyasagar, M. (2005). Robot Modeling and Control. Wiley. Wiley. ISBN 9780471765790.
- ^ "5.4. Manipulability – Modern Robotics". modernrobotics.northwestern.edu. Northwestern University. Retrieved 18 October 2023.
External links
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