“…This measure can be either global, i.e., over a specified region of the workspace, or local, i.e., at a specific configuration. Global measures, such as those in [25] and [27], are more appropriate for tasks that require large motions throughout the workspace, whereas local measures [11], [28] are more appropriate for dexterous operations in a relatively small location, e.g., laser pointing [6] and manipulation of nuclear material [9]. In this paper, we focus on a local measure called the relative manipulability index, which was first introduced in [12] to quantify the fault tolerance of kinematically redundant serial manipulators.…”