The aim of this article is to provide a systematic method to perform dynamic analysis in the task space for a sys tem composed of multiple arms holding a rigid object. The dynamic manipulability ellipsoid is introduced to obtain quantitative indices of the system's capability, in each configuration, of performing object accelerations along given task space directions. The ellipsoid is derived on the basis of the mapping of object accelerations onto joint driving torques via the proper kineto-static and dynamic equations of the system. The maximum joint torque limits are taken into account, and the effects of gravitational loads onto the ellipsoid are evidenced. Anal ysis of multiarm system configurations is carried out in a number of case studies.
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