MEASURE OF KINEMATIC DEXTERITY OF ROBOTIC MANIPULATORS WITH REDUNDANCY

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.