ON TASK-BASED DIRECTIONAL MANIPULABILITY MEASURE OF REDUNDANT ROBOT

Based on the analysis of the conventional manipulability measure(MM), the task based directional manipulability measure (TBDM) was defined in this paper. The analytic expression of TBDM was given by the author and was used as the objective function to optimize the robot configuration. Simulation shows that TBDM is more significative than the conventional MM in practical applications.