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In this paper, an approach for design optimization of serial-link redundant manipulator is presented with exemplar optimizations on a 3-R planar and a 5-R spatial manipulator. The optimization is based on a global kinematic performance metric, which is chosen to be the Global Conditioning Index (GCI) based on condition number of manipulator Jacobian. The workspaces of 3-R planar and 5-R spatial manipulators are numerically computed using Monte Carlo technique in task space, which is utilized indoi:10.1016/j.protcy.2014.08.007 fatcat:mqtk24slnjb7nh2h7wgqbdmxue