Dynamic manipulability ellipsoid for redundant manipulators

Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-space accelerations. The case of manipulators in singular configurations is also analyzed. A case study is presented to illustrate the correctness of the proposed approach for an `easy-to understand' planar arm.