Kinematic and Dynamic Manipulability of the Rotary Double Pendulum

This paper considers the rotary double pendulum comprising a horizontally rotating arm connected to a double pendulum rotating in the vertical plane. This is a highly nonlinear system and is often used to study nonlinear control problems. In this paper, this system is considered as a robotic manipulator and the manipulability analysis of this system is conducted. The kinematic and dynamic manipulability analyses are carried out, and the corresponding manipulability ellipsoids are plotted for end-effector motion on cylindrical surfaces.