[Mike Rosenstein]

Velocity-dependent dynamic manipulability
M.T. Rosenstein and R.A. Grupen. Velocity-dependent dynamic manipulability. In Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, 2424-2429, 2002.
Abstract: Measures of dynamic manipulability summarize a manipulator's capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design and control of general-purpose robots. Existing measures, however, downplay the effects of velocity or else ignore them altogether. In this paper we derive the relationship between joint velocity and end-effector acceleration, and through case studies we demonstrate that velocity has a complex, non-negligible effect on manipulability. We also provide evidence that movement near a singularity is beneficial for certain tasks.
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See also:
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updated 05-Aug-2002