Velocity-dependent dynamic manipulability

Measures of dynamic manipulability summarize a manipulator's capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design and control of general-purpose robots. Existing measures, however, downplay the effects of velocity or else ignore them altogether. In this paper we derive the relationship between joint velocity and end-effector acceleration, and through case studies we demonstrate that velocity has a complex, non-negligible effect on manipulability. We also provide evidence that movement near a singularity is beneficial for certain tasks.