A Characteristics Analysis of Manipulator Dynamics using Principal Transformations

A new approach to the geometrical representation of manipulator dynamics is presented. Inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a general ellipsoid for a series of rigid bodies in order to represent the manipulator dynamics. By drawing the generalized inertia ellipsoid in space, we can visualize the characteristics of manipulator. The definition and properties of generalized inertia ellispoid are presented along with examples.