Influence of Gravity on the Manipulability Ellipsoid for Robot Arms

[+] Author and Article Information
P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano

Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, 80125 Napoli, Italy

J. Dyn. Sys., Meas., Control 114(4), 723-727 (Dec 01, 1992) (5 pages) doi:10.1115/1.2897748 History: Received October 01, 1990; Revised February 01, 1992; Online March 17, 2008


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 a translation of the ellipsoid which in general occurs along all task space directions. Further, we characterize the ellipsoid for redundant manipulators by investigating the properties of the manipulator Jacobian involved in the core of the ellipsoid. Numerical case studies are developed.

Copyright © 1992 by The American Society of Mechanical Engineers
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