A New Algorithm for Measuring and Optimizing the Manipulability Index

The estimation of the performance characteristics of robot manipulators is crucial in robot applicationand design. Furthermore, studying the manipulability index for every point within the workspace of any serialmanipulator is considered an important problem. Such studies are required for designing trajectories to avoidsingular configurations. In this article, a new method for measuring the manipulability index is proposed, andthen some simulations are performed on different industrial manipulators such as the Puma 560 manipulator, asix DOF manipulator and the Mitsubishi Movemaster manipulator