A New Algorithm for Measuring and Optimizing the Manipulability Index

  • Ayssam Yehia Elkady
  • Mohammed Mohammed
  • Tarek Sobh


The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the manipulability index is proposed, and then some simulations are performed on different industrial manipulators such as the Puma 560 manipulator, a six DOF manipulator and the Mitsubishi Movemaster manipulator.


Manipulability index Dexterity Robot manipulator 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Ayssam Yehia Elkady
    • 1
  • Mohammed Mohammed
    • 1
  • Tarek Sobh
    • 1
  1. 1.School of EngineeringUniversity of BridgeportBridgeportUSA

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