Study on dexterity of robot manipulators

Biyun Xie, Jing Zhao

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


The analysis and comparison of the different traditional dexterity measures of manipulators was made, and a new dexterity measure was presented. Furthermore the sensitivity of the measure was defined, which can be used to evaluate the stability of the dexterity. Based on these measures, the kinematic dexterity of planar and spatial robots was studied. Meanwhile the dexterity of the optimization results in different dexterity measures are compared. From the results obtained it can be observed that the optimal posture determined by the new measure is more dexterous.

Original languageEnglish
Pages (from-to)856-862
Number of pages7
JournalGaojishu Tongxin/Chinese High Technology Letters
Issue number8
StatePublished - Aug 2010


  • Condition number
  • Isotropic condition
  • Kinematic dexterity
  • Manipulability

ASJC Scopus subject areas

  • Engineering (all)


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