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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.
T. Yoshikawa (Wed,) studied this question.
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