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?