... personal computer and programming in high level. 5 Advances in Robot Manipulators7 2 Fig. 23. Manipulability index - Wd = [1, 1, 1, 1, 1, 1, 1, 10 0, 10 0]. In all three cases, the manipulability ... joint values of all robot points in the existing robot program by solving the robot s inverse kinematics equations with the identified robot joint parameters. Advances in Robot Manipulators1 08 ... A9-DoFWheelchair-MountedRoboticArmSystem:Design,Control,Brain-ComputerInterfacing,andTesting 73 Fig. 23. Manipulability index - Wd = [1, 1, 1, 1, 1, 1, 1, 10 0, 10 0]. In all three cases, the manipulability...