Upper bound conditioning as a performance index for manipulator motion planning Abstract In this article a simple performance index for proper manipulator motion planning is presented. This index is derived by establishing a simple upper bound for a {\em standard} condition number of the Jacobian matrix. Here the proposed index behaviour is analyzed/tested on a planar redundant manipulator executing tasks under various scenarios. @inproceedings{Mayo98, author = "Rene V. Mayorga and Luz Abril Torres", address = "Victoria, B.C., Canada", year = "1998", month = "October", publisher = "IEEE Press", booktitle = "Proceedings of the 1998 IEEE International Conference on Intelligent Robots and Systems (IROS)", pages = "1913-1918", title = "Upper bound conditioning as a performance index for manipulator motion planning", refnumber = "98CH36190" }