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. >
['Inge Spangelo', 'Jan R. Sagli', 'Olav Egeland']
Bounds on the largest singular value of the manipulator Jacobian