{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T08:44:55Z","timestamp":1775205895908,"version":"3.50.1"},"reference-count":91,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2014,2,15]],"date-time":"2014-02-15T00:00:00Z","timestamp":1392422400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,3]]},"DOI":"10.1007\/s10846-014-0024-y","type":"journal-article","created":{"date-parts":[[2014,2,14]],"date-time":"2014-02-14T05:45:44Z","timestamp":1392356744000},"page":"547-570","source":"Crossref","is-referenced-by-count":220,"title":["Manipulator Performance Measures - A Comprehensive Literature Survey"],"prefix":"10.1007","volume":"77","author":[{"given":"Sarosh","family":"Patel","sequence":"first","affiliation":[]},{"given":"Tarek","family":"Sobh","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2014,2,15]]},"reference":[{"issue":"2","key":"24_CR1","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1177\/027836498700600206","volume":"6","author":"CA Klein","year":"1987","unstructured":"Klein, C.A., Blaho, B.E.: Dexterity measures for the design and control of kinematically redundant manipulators. Int. J. Robot. Res. 6(2), 72\u201383 (1987). doi: 10.1177\/027836498700600206","journal-title":"Int. J. Robot. Res."},{"key":"24_CR2","unstructured":"Tanev, T., Stoyanov, B.: On the performance indexes for robot manipulators. In: Problems of Engineering Cybernetics and Robotics. Sofia (2000)"},{"key":"24_CR3","doi-asserted-by":"crossref","unstructured":"Merlet, J.P.: Jacobian, manipulability, condition number and accuracy of parallel robots. In: Thrun, S., Brooks, R.,Durrant-Whyte, H. (eds.) Robotics Research, vol. 28. Springer Tracts in Advanced Robotics, pp. 175\u2013184. Springer, Berlin Heidelberg (2007)","DOI":"10.1007\/978-3-540-48113-3_16"},{"key":"24_CR4","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1016\/j.riai.2012.02.005","volume":"2","author":"HEA Moreno","year":"2012","unstructured":"Moreno, H.E.A., Saltaren, R., Carrera, I., Puglisi, L., Aracil, R.: Indices de Desempeno de Robots Manipuladores: una revision del Estado del Arte (in Spanish). Rev. Iberoam. Autom. Inform. Ind. 2, 111\u2013122 (2012)","journal-title":"Rev. Iberoam. Autom. Inform. Ind."},{"key":"24_CR5","unstructured":"Pai, D.K., Doel, K.v.d.: Performance Measures for Robot Manipulators: A Unied Approach. University of British Coloumbia (1993)"},{"key":"24_CR6","doi-asserted-by":"crossref","unstructured":"Chang, P.H.: A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy, p. 52. MIT (1988)","DOI":"10.21236\/ADA196223"},{"issue":"2","key":"24_CR7","doi-asserted-by":"crossref","first-page":"434","DOI":"10.1016\/j.rcim.2010.09.004","volume":"27","author":"I Mansouri","year":"2011","unstructured":"Mansouri, I., Ouali, M.: The power manipulability \u2013 A new homogeneous performance index of robot manipulators. Robot. Comput. Integr. Manuf. 27(2), 434\u2013449 (2011). doi: 10.1016\/j.rcim.2010.09.004","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"3","key":"24_CR8","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1115\/1.2912772","volume":"113","author":"C Gosselin","year":"1991","unstructured":"Gosselin, C., Angeles, J.: A global performance index for the kinematic optimization of robotic manipulators. J. Mech. Des. 113(3), 220\u2013226 (1991)","journal-title":"J. Mech. Des."},{"key":"24_CR9","doi-asserted-by":"crossref","unstructured":"Kucuk, S., Bingul, Z.: Robot workspace optimization based on a novel local and global performance indices. In: Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE pp. 1593\u20131598 (2005)","DOI":"10.1109\/ISIE.2005.1529170"},{"issue":"8","key":"24_CR10","doi-asserted-by":"crossref","first-page":"1037","DOI":"10.1016\/j.robot.2012.05.013","volume":"60","author":"LJ Puglisi","year":"2012","unstructured":"Puglisi, L.J., Saltaren, R.J., Moreno, H.A., C\u00e1rdenas, P.F., Garcia, C., Aracil, R.: Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes. Robot. Auton. Syst. 60(8), 1037\u20131045 (2012). doi: 10.1016\/j.robot.2012.05.013","journal-title":"Robot. Auton. Syst."},{"issue":"7","key":"24_CR11","doi-asserted-by":"crossref","first-page":"567","DOI":"10.1016\/j.robot.2006.04.002","volume":"54","author":"S Kucuk","year":"2006","unstructured":"Kucuk, S., Bingul, Z.: Comparative study of performance indices for fundamental robot manipulators. Robot. Auton. Syst. 54(7), 567\u2013573 (2006). doi: 10.1016\/j.robot.2006.04.002","journal-title":"Robot. Auton. Syst."},{"key":"24_CR12","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1115\/1.3258918","volume":"110","author":"H Lipkin","year":"1988","unstructured":"Lipkin, H., Duffy, J.: Hybrid twist and wrench control for a robotic manipulator. Trans. ASME J. Mech. Transm. Autom. Des. 110, 138\u2013144 (1988)","journal-title":"Trans. ASME J. Mech. Transm. Autom. Des."},{"key":"24_CR13","doi-asserted-by":"crossref","unstructured":"Ranjbaran, F., Angeles, J., Kecskemethy, A.: On the kinematic conditioning of robotic manipulators. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 3164, pp. 3167\u20133172 (1996)","DOI":"10.1109\/ROBOT.1996.509194"},{"key":"24_CR14","doi-asserted-by":"crossref","unstructured":"Khatib, O.: Inertial Properties in Robotic Manipulation: An Object-Level Framework. Robotics Laboratory, Stanford University (1995)","DOI":"10.1177\/027836499501400103"},{"issue":"4","key":"24_CR15","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1016\/0921-8890(94)90010-8","volume":"13","author":"GM Cloutier","year":"1994","unstructured":"Cloutier, G.M., Jutard, A., B\u00e9temps, M.: A robot-task conformance index for the design of robotized cells. Robot. Auton. Syst. 13(4), 233\u2013243 (1994). doi: 10.1016\/0921-8890(94)90010-8","journal-title":"Robot. Auton. Syst."},{"key":"24_CR16","doi-asserted-by":"crossref","first-page":"665","DOI":"10.1115\/1.3254968","volume":"103","author":"A Kumar","year":"1981","unstructured":"Kumar, A., Waldron, K.J.: The workspace of mechanical manipulator. J. Mech. Des. Trans. ASME 103, 665\u2013672 (1981)","journal-title":"J. Mech. Des. Trans. ASME"},{"key":"24_CR17","doi-asserted-by":"crossref","first-page":"704","DOI":"10.1115\/1.3256412","volume":"104","author":"KC Gupta","year":"1982","unstructured":"Gupta, K.C., Roth, B.: Design considerations for manipulator workspace, ASME Journal of Mechanical Design 1. ASME J. Mech. Des. 104, 704\u2013711 (1982)","journal-title":"ASME J. Mech. Des."},{"issue":"2","key":"24_CR18","doi-asserted-by":"crossref","first-page":"262","DOI":"10.1115\/1.3258719","volume":"107","author":"DC Yang","year":"1985","unstructured":"Yang, D.C., Lai, Z.C.: On dexterity of robotic manipulators - service angle. J. Mech. Transm. Autom. Des. 107(2), 262\u2013270 (1985)","journal-title":"J. Mech. Transm. Autom. Des."},{"issue":"2","key":"24_CR19","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1177\/027836498600500213","volume":"5","author":"A Kumar","year":"1986","unstructured":"Kumar, A., Patel, M.S.: Mapping the manipulator workspace using interactive computer graphics. Int. J. Robot. Res. 5(2), 122\u2013130 (1986). doi: 10.1177\/027836498600500213","journal-title":"Int. J. Robot. Res."},{"key":"24_CR20","doi-asserted-by":"crossref","unstructured":"Alameldin, T., Sobh, T.: On the evaluation of reachable workspace for redundant manipulators. In: Paper presented at the Proceedings of the 3rd International Conference on Industrial and engineering applications of artificial intelligence and expert systems, vol. 2 Charleston","DOI":"10.1145\/98894.99128"},{"key":"24_CR21","doi-asserted-by":"crossref","unstructured":"Chang-Hwan, C., Hee-Seong, P., Seong-Hyun, K., Hyo-Jik, L., Jong-Kwang, L., Ji-Sub, Y., Byung-Seok, P.: A manipulator workspace generation algorithm using a singular value decomposition. In: International Conference on Control, Automation and Systems, ICCAS 2008, pp. 163\u2013168 (2008)","DOI":"10.1109\/ICCAS.2008.4694543"},{"issue":"4","key":"24_CR22","doi-asserted-by":"crossref","first-page":"850","DOI":"10.1016\/j.rcim.2011.01.006","volume":"27","author":"Y Jin","year":"2011","unstructured":"Jin, Y., Chen, I.-M., Yang, G.: Workspace evaluation of manipulators through finite-partition of SE(3). Robot. Comput.-Integr. Manuf. 27(4), 850\u2013859 (2011). doi: 10.1016\/j.rcim.2011.01.006","journal-title":"Robot. Comput.-Integr. Manuf."},{"issue":"5","key":"24_CR23","doi-asserted-by":"crossref","first-page":"454","DOI":"10.1016\/j.rcim.2010.02.001","volume":"26","author":"Z Wang","year":"2010","unstructured":"Wang, Z., Ji, S., Li, Y., Wan, Y.: A unified algorithm to determine the reachable and dexterous workspace of parallel manipulators. Robot. Comput.-Integr. Manuf. 26(5), 454\u2013460 (2010). doi: 10.1016\/j.rcim.2010.02.001","journal-title":"Robot. Comput.-Integr. Manuf."},{"issue":"1","key":"24_CR24","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.rcim.2006.06.005","volume":"24","author":"J Yang","year":"2008","unstructured":"Yang, J., Abdel-Malek, K., Zhang, Y.: On the workspace boundary determination of serial manipulators with non-unilateral constraints. Robot. Comput.-Integr. Manuf. 24(1), 60\u201376 (2008). doi: 10.1016\/j.rcim.2006.06.005","journal-title":"Robot. Comput.-Integr. Manuf."},{"issue":"5","key":"24_CR25","doi-asserted-by":"crossref","first-page":"605","DOI":"10.1017\/S0263574706002682","volume":"24","author":"KY Tsai","year":"2006","unstructured":"Tsai, K.Y., Lee, T.K., Huang, K.D.: Determining the workspace boundary of 6-DOF parallel manipulators. Robotica 24(5), 605\u2013611 (2006). doi: 10.1017\/s0263574706002682","journal-title":"Robotica"},{"issue":"1","key":"24_CR26","first-page":"48","volume":"2","author":"T Alameldin","year":"2003","unstructured":"Alameldin, T., Badler, N., Sobh, T., Mihali, R.: A computational approach for constructing the reachable workspaces for redundant manipulators. Comput. J. 2(1), 48\u201352 (2003)","journal-title":"Comput. J."},{"issue":"5","key":"24_CR27","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1016\/S0736-5845(00)00011-9","volume":"16","author":"K Abdel-Malek","year":"2000","unstructured":"Abdel-Malek, K., Yeh, H.-J., Othman, S.: Interior and exterior boundaries to the workspace of mechanical manipulators. Robot. Comput. Integr. Manuf. 16(5), 365\u2013376 (2000). doi: 10.1016\/S0736-5845(00)00011-9","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"1","key":"24_CR28","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1016\/S0736-5845(96)00023-3","volume":"13","author":"K Abdel-Malek","year":"1997","unstructured":"Abdel-Malek, K., Adkins, F., Yeh, H.-J., Haug, E.: On the determination of boundaries to manipulator workspaces. Robot. Comput. Integr. Manuf. 13(1), 63\u201372 (1997). doi: 10.1016\/S0736-5845(96)00023-3","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"4","key":"24_CR29","doi-asserted-by":"crossref","first-page":"975","DOI":"10.1007\/s11431-009-0083-7","volume":"52","author":"R Li","year":"2009","unstructured":"Li, R., Dai, J.S.: Orientation angle workspaces of planar serial three-link manipulators. Sci. China Ser. E Technol. Sci. 52(4), 975\u2013985 (2009)","journal-title":"Sci. China Ser. E Technol. Sci."},{"key":"24_CR30","doi-asserted-by":"crossref","unstructured":"Vijaykumar, R., Tsai, M., Waldron, K.: Geometric optimization of manipulator structures for working volume and dexterity. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 228\u2013236 (1985)","DOI":"10.1109\/ROBOT.1985.1087270"},{"issue":"1","key":"24_CR31","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1016\/S0094-114X(98)00087-1","volume":"35","author":"KA Abdel-Malek","year":"1998","unstructured":"Abdel-Malek, K.A., Yeh, H.J.: Local dexterity analysis for open kinematic chains. Mech. Mach. Theory 35(1), 131\u2013154 (1998). doi: 10.1016\/S0094-114X(98)00087-1","journal-title":"Mech. Mach. Theory"},{"key":"24_CR32","unstructured":"Vinogradov, I.B., Kobrinksi, A.E., Stephenko, Y.E., Tives, L.T.: Details of kinematics of manipulators with the method of volumes. Mekanika Mashin (No 27\u201328), 5\u201316 (1971)"},{"key":"24_CR33","doi-asserted-by":"crossref","unstructured":"Chung, W.J., Chung, W.K., Youm, Y.: New dexterity index based on effective minors for planar redundant manipulators. In: Proceedings of the 1992 lEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1951\u20131957 (1992)","DOI":"10.1109\/IROS.1992.601926"},{"key":"24_CR34","doi-asserted-by":"crossref","unstructured":"Patel, S., Sobh, T.: Optimal design of three-link planar manipulators using Grashof\u2019s Criterion. In: Sobh, T., Xiong, X. (eds.) Prototyping of Robotic Systems: Applications of Design and Implementation, p. 321. IGI Global (2012)","DOI":"10.4018\/978-1-4666-0176-5.ch003"},{"issue":"12","key":"24_CR35","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","volume":"7","author":"A Liegeois","year":"1977","unstructured":"Liegeois, A.: Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Trans. Syst. Man Cybern. 7(12), 868\u2013871 (1977). doi: 10.1109\/tsmc.1977.4309644","journal-title":"IEEE Trans. Syst. Man Cybern."},{"issue":"2","key":"24_CR36","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1109\/TSMC.1983.6313123","volume":"SMC-13","author":"CA Klein","year":"1983","unstructured":"Klein, C.A., Huang, C.H.: Review of pseudoinverse control for use with kinematically redundant manipulators. IEEE Trans. Syst. Man Cybern. SMC-13(2), 245\u2013250 (1983). doi: 10.1109\/tsmc.1983.6313123","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"24_CR37","doi-asserted-by":"crossref","unstructured":"Kapoor, C., Cetin, M., Tesar, D.: Performance based redundancy resolution with multiple criteria. In: Design Engineering Technical Conference, DETC98, ASME. Georgia (1998)","DOI":"10.1115\/DETC98\/MECH-5864"},{"key":"24_CR38","unstructured":"Baron, L.: A joint-limits avoidance strategy for arc-welding robots. In: Paper presented at the International Conference on Integrated Design and Manufacturing in Mechanical Engineering. Montreal"},{"issue":"4","key":"24_CR39","doi-asserted-by":"crossref","first-page":"456","DOI":"10.1108\/01439910810893626","volume":"35","author":"L Huo","year":"2008","unstructured":"Huo, L., Baron, L.: The joint-limits and singularity avoidance in robotic welding. Ind. Robot. Int. J. 35(4), 456\u2013464 (2008). doi: 10.1108\/01439910810893626","journal-title":"Ind. Robot. Int. J."},{"key":"24_CR40","author":"KA Abdel-Malek","year":"2004","unstructured":"Abdel-Malek, K.A., Yu, W., Yang, J.: Placement of robot manipulators to maximize dexterity. Int. J. Robot. Autom., 19 (2004). doi: 10.2316\/Journal.206.2004.1.206-2029","journal-title":"Int. J. Robot. Autom."},{"key":"24_CR41","doi-asserted-by":"crossref","unstructured":"Asada, H., Granito, J.: Kinematic and static characterization of wrist joints and their optimal design. In: Proceedings. IEEE International Conference on Robotics and Automation pp. 244\u2013250 (1985)","DOI":"10.1109\/ROBOT.1985.1087324"},{"key":"24_CR42","doi-asserted-by":"crossref","unstructured":"Dubey, R., Luh, J.: Redundant robot control for higher flexibility. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 1066\u20131072 (1987)","DOI":"10.1109\/ROBOT.1987.1087918"},{"issue":"1","key":"24_CR43","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1177\/027836498200100102","volume":"1","author":"JK Salisbury","year":"1982","unstructured":"Salisbury, J.K., Craig, J.J.: Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4\u201317 (1982). doi: 10.1177\/027836498200100102","journal-title":"Int. J. Robot. Res."},{"key":"24_CR44","unstructured":"Forsythe, G.E., Moler, C.B.: Computer Solution of Linear Algebraic Systems. Prentice-Hall (1967)"},{"issue":"2","key":"24_CR45","first-page":"86","volume":"17","author":"E Schwartz","year":"2002","unstructured":"Schwartz, E., Manseur, R., Doty, K.: Noncommensurate systems in robotics. Int. J. Robot. Autom. 17(2), 86\u201392 (2002)","journal-title":"Int. J. Robot. Autom."},{"key":"24_CR46","doi-asserted-by":"crossref","unstructured":"Yoshikawa, T.: Translational and rotational manipulability of robotic manipulators. In: American Control Conference, pp. 228\u2013233 (1990)","DOI":"10.23919\/ACC.1990.4790733"},{"issue":"1","key":"24_CR47","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1109\/TRO.2009.2037252","volume":"26","author":"P Cardou","year":"2010","unstructured":"Cardou, P., Bouchard, S., Gosselin, C.: Kinematic-sensitivity indices for dimensionally nonhomogeneous Jacobian Matrices. IEEE Trans. Robot. 26(1), 166\u2013173 (2010). doi: 10.1109\/tro.2009.2037252","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"24_CR48","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/027836499301200101","volume":"12","author":"KL Doty","year":"1993","unstructured":"Doty, K.L., Melchiorri, C., Bonivento, C.: A theory of generalized inverses applied to robotics. Int. J. Robot. Res. 12(1), 1\u201319 (1993). doi: 10.1177\/027836499301200101","journal-title":"Int. J. Robot. Res."},{"key":"24_CR49","doi-asserted-by":"crossref","unstructured":"Angeles, J.: Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, 2 edn. Springer (2003)","DOI":"10.1007\/b97597"},{"issue":"8","key":"24_CR50","doi-asserted-by":"crossref","first-page":"884","DOI":"10.1016\/j.mechmachtheory.2006.03.010","volume":"41","author":"J Angeles","year":"2006","unstructured":"Angeles, J.: Is there a characteristic length of a rigid-body displacement? Mech. Mach. Theory 41(8), 884\u2013896 (2006)","journal-title":"Mech. Mach. Theory"},{"issue":"1","key":"24_CR51","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1115\/1.2120808","volume":"128","author":"J Angeles","year":"2006","unstructured":"Angeles, J., Waseem, K.: The kinetostatic optimization of robotic manipulators: the inverse and the direct problems. J. Mech. Des. 128(1), 168\u2013178 (2006)","journal-title":"J. Mech. Des."},{"key":"24_CR52","doi-asserted-by":"crossref","unstructured":"Alba-Gomez, O., Wenger, P., Pamanes, A.: Consistent kinetostatic indices for planar 3-DOF parallel manipulators, application to the optimal kinematic inversion. In: Paper presented at the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2005)","DOI":"10.1115\/DETC2005-84326"},{"key":"24_CR53","doi-asserted-by":"crossref","unstructured":"Ma, O., Angeles, J.: Optimum design of manipulators under dynamic isotropy conditions. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 471, pp. 470\u2013475 (1993)","DOI":"10.1109\/ROBOT.1993.292024"},{"key":"24_CR54","doi-asserted-by":"crossref","unstructured":"Ma, O., Angeles, J.: Optimum architecture design of platform manipulators. In: Fifth International Conference on Advanced Robotics, 1991. Robots in Unstructured Environments, 91 ICAR, vol. 1132, pp. 1130\u20131135 (1991)","DOI":"10.1109\/ICAR.1991.240404"},{"key":"24_CR55","doi-asserted-by":"crossref","unstructured":"Yoshikawa, T.: Foundations of Robotics: Analysis and Control. MIT Press (1990)","DOI":"10.7551\/mitpress\/3074.001.0001"},{"issue":"3","key":"24_CR56","doi-asserted-by":"crossref","first-page":"462","DOI":"10.1109\/70.388791","volume":"11","author":"KL Doty","year":"1995","unstructured":"Doty, K.L., Melchiorri, C., Schwartz, E.M., Bonivento, C.: Robot manipulability. IEEE Trans. Robot. Autom. 11(3), 462\u2013468 (1995). doi: 10.1109\/70.388791","journal-title":"IEEE Trans. Robot. Autom."},{"key":"24_CR57","unstructured":"Staffetti, E., Bruyninckx, H., De Schutter, J.: Advances in Robot Kinematics: Theory and Applications. In: Lenar\u010di\u010d, J., Thomas, F. (eds.) p. 536. Springer (2002)"},{"issue":"2","key":"24_CR58","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498500400201","volume":"4","author":"T Yoshikawa","year":"1985","unstructured":"Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Robot. Res. 4(2), 3\u20139 (1985). doi: 10.1177\/027836498500400201","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"24_CR59","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1177\/027836498300200103","volume":"2","author":"RP Paul","year":"1983","unstructured":"Paul, R.P., Stevenson, C.N.: Kinematics of robot wrists. Int. J. Robot. Res. 2(1), 31\u201338 (1983). doi: 10.1177\/027836498300200103","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"24_CR60","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1007\/s10846-009-9388-9","volume":"59","author":"AY Elkady","year":"2010","unstructured":"Elkady, A.Y., Mohammed, M., Sobh, T.: A new algorithm for measuring and optimizing the manipulability index. J. Intell. Robot. Syst. 59(1), 75\u201386 (2010). doi: 10.1007\/s10846-009-9388-9","journal-title":"J. Intell. Robot. Syst."},{"key":"24_CR61","unstructured":"Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. Wiley (1989)"},{"issue":"4","key":"24_CR62","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1016\/0921-8890(92)90039-2","volume":"9","author":"MG Cl\u00e9ment","year":"1992","unstructured":"Cl\u00e9ment, M.G.: The optimum design of robotic manipulators using dexterity indices. Robot. Auton. Syst. 9(4), 213\u2013226 (1992). doi: 10.1016\/0921-8890(92)90039-2","journal-title":"Robot. Auton. Syst."},{"key":"24_CR63","unstructured":"Forsythe, G.E., Malcolm, M.A., Mole, C.B.: Computer methods for mathematical computations. Prentice-Hal (1977)"},{"issue":"04","key":"24_CR64","doi-asserted-by":"crossref","first-page":"455","DOI":"10.1017\/S0263574704000220","volume":"22","author":"K Gotlih","year":"2004","unstructured":"Gotlih, K., Troch, I.: Base invariance of the manipulability index. Robotica 22(04), 455\u2013462 (2004). doi: 10.1017\/S0263574704000220","journal-title":"Robotica"},{"key":"24_CR65","doi-asserted-by":"crossref","unstructured":"Tadokoro, S., Kimura, I., Takamori, T.: A dexterity measure for trajectory planning and kinematic design of redundant manipulators. In: 15th Annual Conference of IEE Industrial Electronics Society, IECON 89, vol. 412, pp. 415\u2013420 (1989)","DOI":"10.1109\/IECON.1989.69668"},{"issue":"1","key":"24_CR66","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/027836499401300101","volume":"13","author":"FC Park","year":"1994","unstructured":"Park, F.C., Brockett, R.W.: Kinematic dexterity of robotic mechanisms. Int. J. Robot. Res. 13(1), 1\u201315 (1994). doi: 10.1177\/027836499401300101","journal-title":"Int. J. Robot. Res."},{"issue":"10","key":"24_CR67","doi-asserted-by":"crossref","first-page":"1081","DOI":"10.1177\/027836499801701005","volume":"17","author":"J Lee","year":"1998","unstructured":"Lee, J., Duffy, J., Hunt, K.H.: A practical quality index based on the octahedral manipulator. Int. J. Robot. Res. 17(10), 1081\u20131090 (1998). doi: 10.1177\/027836499801701005","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"24_CR68","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1115\/1.2829417","volume":"121","author":"J Lee","year":"1999","unstructured":"Lee, J., Duffy, J., Keler, M.: The optimum quality index for the stability of in\u2013parallel planar platform devices. J. Mech. Des. 121(1), 15\u201320 (1999). doi: 10.1115\/1.2829417","journal-title":"J. Mech. Des."},{"key":"24_CR69","doi-asserted-by":"crossref","DOI":"10.1007\/978-94-017-0657-5_4","volume-title":"Rotation Symmetry Axes and the Quality Index in a 3D Octahedral Parallel Robot Manipulator System","author":"T Tanev","year":"2002","unstructured":"Tanev, T., Rooney, J.: Rotation Symmetry Axes and the Quality Index in a 3D Octahedral Parallel Robot Manipulator System. Kluwer Academic Publishers, Dordrecht (2002)"},{"key":"24_CR70","doi-asserted-by":"crossref","unstructured":"Jin-Oh, K., Khosla, K.: Dexterity measures for design and control of manipulators. In: Proceedings IROS \u201991. IEEE\/RSJ International Workshop on Intelligent Robots and Systems \u201991. \u2019Intelligence for Mechanical Systems, vol. 752, pp. 758\u2013763 (1991)","DOI":"10.1109\/IROS.1991.174572"},{"key":"24_CR71","doi-asserted-by":"crossref","unstructured":"Yoshikawa, T.: Dynamic manipulability of robot manipulators. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 1033\u20131038 (1985)","DOI":"10.1109\/ROBOT.1985.1087277"},{"issue":"2","key":"24_CR72","doi-asserted-by":"crossref","first-page":"164","DOI":"10.1109\/TAC.1980.1102314","volume":"25","author":"V Klema","year":"1980","unstructured":"Klema, V., Laub, A.: The singular value decomposition: its computation and some applications. IEEE Trans. Autom. Control. 25(2), 164\u2013176 (1980). doi: 10.1109\/tac.1980.1102314","journal-title":"IEEE Trans. Autom. Control."},{"key":"24_CR73","volume-title":"Use of redundancy in the design of robotic systems. In: Hanafusa, H., Inoue, H. (eds.) Robotics Research: The Second International Symposium, Kyoto, pp. 207\u2013214","author":"CA Klein","year":"1985","unstructured":"Klein, C.A.: Use of redundancy in the design of robotic systems. In: Hanafusa, H., Inoue, H. (eds.) Robotics Research: The Second International Symposium, Kyoto, pp. 207\u2013214. MIT Press, Cambridge (1985)"},{"key":"24_CR74","unstructured":"Yoshikawa, T.: Analysis and design of articulated robot arms from the viewpoint of dynamic manipulability. In: Robotics Research: The Third International Symposium, Gouvieux(Chantilly), pp. 150\u2013156. MIT Press (1986)"},{"key":"24_CR75","doi-asserted-by":"crossref","unstructured":"Chiu, S.L.: Kinematic characterization of manipulators: an approach to defining optimality. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 822, pp. 828\u2013833 (1988)","DOI":"10.1109\/ROBOT.1988.12163"},{"issue":"6","key":"24_CR76","doi-asserted-by":"crossref","first-page":"560","DOI":"10.1177\/027836499201100605","volume":"11","author":"J Angeles","year":"1992","unstructured":"Angeles, J., L\u00f3pez-Caj\u00fan, C.S.: Kinematic isotropy and the conditioning index of serial robotic manipulators. Int. J. Robot. Res. 11(6), 560\u2013571 (1992). doi: 10.1177\/027836499201100605","journal-title":"Int. J. Robot. Res."},{"key":"24_CR77","doi-asserted-by":"crossref","unstructured":"Feng, G., Xinjun, L., Gruver, W.A.: The global conditioning index in the solution space of two degree of freedom planar parallel manipulators. In: IEEE International Conference on Intelligent Systems for the 21st Century, Systems, Man and Cybernetics, vol. 4055 pp. 4055\u20134058 (1995)","DOI":"10.1109\/ICSMC.1995.538425"},{"issue":"3","key":"24_CR78","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1115\/1.3140644","volume":"105","author":"H Asada","year":"1983","unstructured":"Asada, H.: A geometric representation of manipulator dynamics and its application to arm design. J. Dyn. Syst. Meas. Control. Trans. ASME 105(3), 131\u2013135 (1983)","journal-title":"J. Dyn. Syst. Meas. Control. Trans. ASME"},{"key":"24_CR79","doi-asserted-by":"crossref","unstructured":"Asada, H.: Dynamic analysis and design of robot manipulators using inertia ellipsoids. In: Proceedings 1984 IEEE International Conference on Robotics and Automation, pp. 94\u2013102 (1984)","DOI":"10.1109\/ROBOT.1984.1087211"},{"issue":"3","key":"24_CR80","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1109\/3516.951359","volume":"6","author":"LJ Stocco","year":"2001","unstructured":"Stocco, L.J., Salcudean, S.E., Sassani, F.: Optimal kinematic design of a haptic pen. IEEE\/ASME Trans. Mechatron. 6(3), 210\u2013220 (2001). doi: 10.1109\/3516.951359","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"24_CR81","doi-asserted-by":"crossref","unstructured":"Ma, O., Angeles, J.: The concept of dynamic isotropy and its applications to inverse kinematics and trajectory planning. In: Proceedings 1990 IEEE International Conference on Robotics and Automation, vol. 481, pp. 481\u2013486 (1990)","DOI":"10.1109\/ROBOT.1990.126024"},{"key":"24_CR82","doi-asserted-by":"crossref","unstructured":"Fan-Tien, C., Chung-Wen, C., Min-Hsiung, H.: In: 26th Annual Conference of the IEEE Redundancy Indices of Kinematically Redundant Manipulators. Industrial Electronics Society, IECON vol. 571, pp. 572\u2013577 (2000)","DOI":"10.1109\/IECON.2000.973213"},{"key":"24_CR83","doi-asserted-by":"crossref","unstructured":"Van den Doel, K., Pai, D.K.: Constructing Performance Measures for Robot Manipulators. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 1602, pp. 1601\u20131607 (1994)","DOI":"10.1109\/ROBOT.1994.351361"},{"issue":"4","key":"24_CR84","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1109\/70.508437","volume":"12","author":"RG Roberts","year":"1996","unstructured":"Roberts, R.G., Maciejewski, A.A.: A local measure of fault tolerance for kinematically redundant manipulators. IEEE Trans. Robot. Autom. 12(4), 543\u2013552 (1996). doi: 10.1109\/70.508437","journal-title":"IEEE Trans. Robot. Autom."},{"key":"24_CR85","doi-asserted-by":"crossref","unstructured":"Chang, P.H.: Development of a Dexterity Measure for Kinematically Redundant Manipulators. pp. 496\u2013506. Pittsburgh (1989)","DOI":"10.23919\/ACC.1989.4790242"},{"key":"24_CR86","doi-asserted-by":"crossref","unstructured":"Borrel, P., Liegeois, A.: A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspace determination. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 1180\u20131185 (1986)","DOI":"10.1109\/ROBOT.1986.1087554"},{"key":"24_CR87","doi-asserted-by":"crossref","first-page":"1351","DOI":"10.9746\/sicetr1965.21.1351","volume":"12","author":"R Hashimoto","year":"1985","unstructured":"Hashimoto, R.: Harmonic mean type manipulatability index of robotic arms. Trans. Soc. Instrum. Control Eng. 12, 1351\u20131353 (1985)","journal-title":"Trans. Soc. Instrum. Control Eng."},{"key":"24_CR88","doi-asserted-by":"crossref","unstructured":"Chung, W.J., Chung, W.K., Youm, Y.: Inverse kinematics of planar redundant manipulators using virtual link and displacement distribution schemes. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 921, pp. 926\u2013932 (1991)","DOI":"10.1109\/ROBOT.1991.131707"},{"key":"24_CR89","doi-asserted-by":"crossref","unstructured":"Van den Doel, K., Pai, D.K.: Redundancy and non-linearity measures for robot manipulators. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 1873, pp. 1873\u20131880 (1994)","DOI":"10.1109\/ROBOT.1994.351188"},{"issue":"4","key":"24_CR90","first-page":"40","volume":"27","author":"Z Kaidong","year":"1993","unstructured":"Kaidong, Z., Youheng, X.: Optimum synthesis for workspace dexterity of manipulators. J. Shanghai Jiaotong Univ. 27(4), 40\u201348 (1993)","journal-title":"J. Shanghai Jiaotong Univ."},{"issue":"1","key":"24_CR91","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1109\/56.772","volume":"4","author":"TJ Graettinger","year":"1988","unstructured":"Graettinger, T.J., Krogh, B.H.: The acceleration radius: a global performance measure for robotic manipulators. IEEE J. Robot. Autom. 4(1), 60\u201369 (1988). doi: 10.1109\/56.772","journal-title":"IEEE J. Robot. Autom."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0024-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0024-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0024-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T21:16:53Z","timestamp":1746134213000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0024-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,2,15]]},"references-count":91,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2015,3]]}},"alternative-id":["24"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0024-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,2,15]]}}}