Abstract
Aimed at seeking a optimal task space where robot’s flexibility is better than other task space in the whole workspace, then analyzed robot flexibility indexes which domestic and foreign scholars had described, analyzed k(J)、w andσr comprehensively in task space, proved the rationality of k(J) as the flexibility index and proposed a new method which combining the global performance index η with the minimum flexibility index Dmin(D=1/k(J))to evaluate the flexibility in task space, then proved the method effectively by genetic algorithm . It has a practical significance for solving the problem of optimal task space in robot work space.
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