A new dynamic manipulability ellipsoid for redundant manipulators

Manipulability ellipsoids are effective tools to perform task space analysi s of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulabi lity ellipsoid for redundant manipulators is proposed which leads to more c orrect results in evaluating manipulator capabilities in terms of task-spac e accelerations. The case of manipulators in singular configurations is als o analyzed. Two case studies are presented to illustrate the correctness of the proposed approach.