I. Spangelo et al., BOUNDS ON THE LARGEST SINGULAR VALUE OF THE MANIPULATOR JACOBIAN, IEEE transactions on robotics and automation, 9(1), 1993, pp. 93-96
In this work, we prove that if the manipulator Jacobian is properly sc
aled, the largest singular value is bounded within a small interval cl
ose to unity. In this case, the inverse of the smallest singular value
is a good estimate of the condition number. This is useful in singula
rity analysis. Bounds are derived for a general six-joint manipulator
and for the ABB IRb 2000 industrial robot in a case study.