Abstract: In this paper kinematic dexterity of robotic manipulators with redundancy is discussed at velocity level and the index of general kinematic dexterity-measure and the index of relative kinematic texterity-measure are presented according to the dependence of kinematic dexterity on the relativity of column vectors of the Jacobian matrix.The relation between the general kinematic dexterity-measure and the manipulability of the manipulator and between the relative kinematic dexterity-measure and the condition number,the minimum singular value are expounded,which demonstrates the applicability of two indexes of kinematic dexterity-measure presented in this paper.