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1 year ago in Robotics By Neethi

What are the dimensions of the Jacobian matrix for calculating the Manipulability Index?

How is the Jacobian matrix dimensioned when computing the Manipulability Index?

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By Amy Answered 11 months ago

The Jacobian matrix (J) has dimensions m x n, where n is the number of joints (e.g., 3 for RRR) and m is the dimension of the operational space (typically 6 for position & orientation). For a planar robot, m could be 3. The manipulability index (√det(JJ?)) is calculated from m x m matrix. You cannot directly compare indices from robots with different m (e.g., 3D vs. planar). To compare, analyze indices in a common, task-relevant subspace or use normalized measures like condition number.

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