Techreport,
A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy
Technical Report, AIM-1021. Massachusetts Institute of Technology, (February 1988)
Abstract
We have derived a new performance measure, product of minors of the
Jacobian matrix, that tells how far kinematically redundant manipulators
are from singularity. It was demonstrated that previously used performance
measures, namely condition number and manipulability measure allowed
to change configurations, caused repeatability problems and discontinuity
effects. The new measure, on the other hand, assures that the arm
solution remains in the same configuration, thus effectively preventing
these problems.
