Abstract
In this paper, we propose a new index inspired by dynamic manipulability for redundent robot proposed by Yoshikawa to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is controlled. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. So, we proposed a new concept named Dynamic Reconfiguration Manipulability (DRM) which combined dynamic manipulability with reconfiguration manipulability.
