ABSTRACT
The basic aim of a manipulator is to move its end-effector to a speci—c position or along a trajectory de—ned within its workspace.
Since the end-effector can be considered as a rigid body in a three-dimensional space, it is necessary to de—ne both its position and orientation for its unambiguous determination. The combination of position and orientation is called pose. When a certain pose is required from the robot, in general, it will not be able to reach such a pose exactly but will come extremely close. Additionally, if the same pose is required several times, the robot will respond with slightly different poses. In such context, it is possible to consider various methods to evaluate the capability of a particular manipulator to reach a command pose or an ordered set of poses.
