Comparative Analysis of Isotropy Indices in RR and RRP Arms

In this paper isotropy and manipulability in RR dyads and RRP arms are analyzed and the solutions are obtained in algebraic symbolic forms. Such analysis is performed by means of two different methods: the classical approach based on the condition number and the Lie product. Although both the methods are known since decades, an accurate comparison of the two approaches has never been presented in literature. In particular, the geometrical interpretation of the Lie Product allows to appreciate some interesting differences between the two methods.