Abstract: This paper is concerned with a concept of reconfiguration manipulability inspired from manipulability. The reconfiguration manipulability represents a shapechangeability of each intermediate link when a prior endeffector ...

Abstract: This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot ...