The class of robot manipulators with bounded Jacobian of the gravity vector

Abstract

In order to successfully implement several control laws, a uniform upper bound for the Jacobian of the gravity vector is necessary. However, not all joint configurations of robot manipulators insure the existence of such a bound. In this paper we fully characterize the class of robot manipulators for which the Jacobian of the gravity vector is uniformly bounded. The results in this paper can be easily extended to derive an explicit expression for such a bound in terms of the link parameters.