Formulating Jacobian matrices for the dexterity analysis of parallel manipulators

The condition number of the Jacobian matrix has been commonly used in determining the dexterous regions of a manipulator workspace. This has been successful when applied to manipulators having either solely spherical or solely Cartesian degrees of freedom. However, for manipulators having a mix of both rotational and translational degrees of freedom, i.e., complex degree of freedom manipulators, the condition number of the Jacobian matrix may...