Manipulability and redundancy control of robotic mechanisms

The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given. A four-joint wrist mechanism is also analyzed with respect to its manipulability, and a control algorithm for this redundant mechanism is developed.