It is of interest to have high manipulability in robotic manipulators in order to achieve
high performance. In this report, a model of a robotic arm manipulator is de ned and
analyzed with focus on optimizing the manipulability. The kinematics for the robotic ma-
nipulator is used to de ne quantitative measures of manipulability,
Analytical results for dierent manipulability indices are derived. It is shown that a common
feature of the indices is that they are independent of the rst angle of the robotic arm. Using
numerical optimization, the
is optimized under dierent constraints.
The manipulability measure is also used when de ning a path for the robotic arm manip-
ulator with high manipulability. The path is described by polynomials in the
Numerical optimization of the path is done for several examples. It is concluded that the
indices give dierent measures of manipulability and are therefore suitable for dierent prob-
lems. It is also shown that the manipulability can be optimized when dierent constraints
are imposed and that an optimal radius for the end-eector exists. Lastly, it is concluded
that a short path with high manipulability is possible to obtain using the proposed method.
2012. , 44 p.