Bounds on the largest singular value of the manipulator Jacobian

It is proved that if the manipulator Jacobian is properly scaled, the largest singular value is bounded within a small interval close to unity. In this case, the inverse of the smallest singular value is a good estimate of the condition number. This is useful in singularity analysis. Bounds are derived for a general six-joint manipulator and for the ABB IRb 2000 industrial robot in a case study.<
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