Abstract
Some manipulation tasks have a direction of motion and directions for which kinematic accuracy is required in the motion. We have proposed the index (KAIT: Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. In this paper, first, the KAIT is explained briefly. Second, some postures of a 3-DOF planar manipulator are evaluated for a given task on the basis of the KAIT and Yoshikawa's manipulability measure. Finally, from the comparison of the evaluated results and experimental results which are obtained by using the manipulator, it is indicated that the KAIT are useful in determining the suitable posture of the manipulator for the given task.
