Manipulability Ellipsoid ·
Kinematic Singularity
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.com · v = J(q)·q̇ · w = √det(JJᵀ)
w = |l₁l₂ sin θ₂|
0.250
κ = σ_max/σ_min
1.0
Pose
—
Robot links l₁,l₂
σ₁ — fast axis
σ₂ — slow axis / collapse
Manipulability ellipsoid
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.com · Manipulability Ellipsoid and Kinematic Singularities of Robot Arms