Robot manipulability includes the geometry, kinematics and dynamics, trajectory planning and the mode of optima] control of framework, which is the base of the design and control of robot. Many specialists attach importance to it.

• 机器人操作性能涉及到机器人机构的几何学、运动学与动力学性能以及运动规划和最优控制方式,是机器人设计与控制的理论基础,越来越受到机器人学界的重视。