抄録
In the case that the robot arm has redundancy, its ellipsoid of manipulatability doesn't give enough information. In this paper, we study the relation between ellipsoid of manipulatability and mapping of cube which means range of possible angular velosity by Jacobian matrices. The mapping is a polyhedron. It, means all possible velocity of the robot arm's end effector. The polyhedron has no lack of information of its manipulatability.
