# Kinematic isotropy equal 0

I am developing a robot arm and after calculating the jacobian matrix and then the kinematic isotropy through:

I get a kinematic isotropy of zero, due to four zero eigenvalues in my jacobian. What does this mean for the smoothnes of my workspace? I have read that the closer the kinematic isotropy is to 1, the more isotropic the manipulability ellipsoid. Does a kinematic isotropy of zero imply no manipulability?

• What is the morphology of the arm? – Ben Apr 28 '20 at 0:45
• @Ben it is a simple 2 degree of freedom arm. One rotation around the x-axis and subsequently a rotation around the z-axis at an offset. – Chusikowski Apr 28 '20 at 7:50