Optimal upper bound conditioning for manipulator kinematic design optimization

A simple index for the manipulator kinematic design optimization and/or best posture determination is presented. This index is derived by establishing a simple upper bound for a standard condition number of the Jacobian matrix. Here it is shown that it is relatively easy to determine a joint configuration neighborhood where the rank is preserved and characterized with a small standard condition number. Here the proposed index is applied to the kinematic design optimization of a planar redundant manipulator