Force ellipsoid in a robot (2): principal maneuvers, Jacobian singular value decomposition

Antonio Sala, UPV

Difficulty: **** ,       Relevance: ,      Duration: 14:41

Summary:

This video discusses the relationship of the force ellipsoid of a robotic manipulator (defined in the video [ellipf2EN]), with the singular value decomposition of the Jacobian (with an appropriate scaling).

The main maneuvers are obtained in the space of end-effector forces and normalized joint pairs.

The development is parallel, practically identical, to that of the principal maneuvers in the speed space discussed in the video [elipm2EN]. In fact, it is so similar that (with unit scalings) the principal maneuvers are coincident (with inverse gain): the details of this important property are discussed in the video [elipf4EN], which delves into the relationship between manipulability ellipsoids (velocities) and forces.

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