Effects of the weighting matrix on dynamic manipulability of robots

Morteza Azad, Jan Babič, Michael Mistry

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)
120 Downloads (Pure)


Dynamic manipulability of robots is a well-known tool to analyze, measure and predict a robot’s performance in executing different tasks. This tool provides a graphical representation and a set of metrics as outcomes of a mapping from joint torques to the acceleration space of any point of interest of a robot such as the end-effector or the center of mass. In this paper, we show that the weighting matrix, which is included in the aforementioned mapping, plays a crucial role in the results of the dynamic manipulability analysis. Therefore, finding proper values for this matrix is the key to achieve reliable results. This paper studies the importance of the weighting matrix for dynamic manipulability of robots, which is overlooked in the literature, and suggests two physically meaningful choices for that matrix. We also explain three different metrics, which can be extracted from the graphical representations (i.e. ellipsoids) of the dynamic manipulability analysis. The application of these metrics in measuring a robot’s physical ability to accelerate its end-effector in various desired directions is discussed via two illustrative examples.
Original languageEnglish
Pages (from-to)1867-1879
Number of pages13
JournalAutonomous Robots
Early online date4 Feb 2019
Publication statusE-pub ahead of print - 4 Feb 2019


  • Manipulability
  • Dynamic manipulability
  • Operational space


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