Influence of gravity on the manipulability ellipsoid for robot arms

@inproceedings{Chiacchio1992InfluenceOG,
  title={Influence of gravity on the manipulability ellipsoid for robot arms},
  author={Pasquale Chiacchio and Stefano Chiaverini and Lorenzo Sciavicco and Bruno Siciliano},
  year={1992}
}
The dynamic manipulability ellipsoid is a common tool in robotics to measure the ability of a manipulator to produce arbitrary accelerations of the end-effector for a given set of torques at the joints. This article is intended to demonstrate that for a robot arm, when gravitational forces (due to arm and payload) are properly embedded into the derivation of the ellipsoid, these do not cause a compression in the volume of the ellipsoid, as stated in the original approach, but they just produce… CONTINUE READING

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