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In performing a manipulation task, humans tend to adopt arm postures that most effectively utilize the motion and strength capabilities of the arm. Selecting arm postures that are compatible with the task requirements has become almost instinctive to humans. By mimicking this approach in robotic manipulation, we can exploit the full capability of a manipulator in performing a task. An index is proposed for measuring the compatibility of manipulator postures with respect to a generalized task description. The manipulator is viewed as a mechanical transformer, with joint space velocity and force as input and task space velocity and force as output. Optimization of the index corresponds to matching the velocity and force transmission characteristics to the task requirements. The applications of this index to manipulator redundancy utilization and workspace design are also discussed.

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