Kinematic and dynamic analysis of robot arm

Kinematic and dynamic analysis of robot arm is discussed from the control point of view. For the static control problem, such as the steady-state force/torque control, the kinematic property is analyzed using the condition number of the Jacobian matrix of the transformation between the joint coordinate and the task coordinate. For the general control problem, such as position and orientation control of the end effector, the kinematic and dynamic property is analyzed using the condition number of the matrix which is representative for the input-output relation of a robot arm and related to the output controllability of the robot system. A simple illustrative example shows that the analysis is also useful for the design problem of robot arms.