Manipulability ellipsoid

In robotics, the manipulability ellipsoid is the geometric interpretation of the scaled eigenvectors resulting from the singular value decomposition of the jacobian that describes a robot's motion. ^[1]

4 relations: Eigenvalues and eigenvectors, Jacobian matrix and determinant, Robotics, Singular-value decomposition.

Eigenvalues and eigenvectors

In linear algebra, an eigenvector or characteristic vector of a linear transformation is a non-zero vector that changes by only a scalar factor when that linear transformation is applied to it.

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Jacobian matrix and determinant

In vector calculus, the Jacobian matrix is the matrix of all first-order partial derivatives of a vector-valued function.

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Robotics

Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronics engineering, computer science, and others.

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Singular-value decomposition

In linear algebra, the singular-value decomposition (SVD) is a factorization of a real or complex matrix.

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References

[1] https://en.wikipedia.org/wiki/Manipulability_ellipsoid

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