Our arms have an entire subspace of possible solutions (you can move your elbow around while keeping your hand in place). In robotics, there are a couple of mea

Our arms have an entire subspace of possible solutions (you can move your elbow around while keeping your hand in place). In robotics, there are a couple of measures that can be minimized/maximized while computing inverse kinematics. Work is one of them but also time to reach the goal configuration or its "dexterity" for moving on in a future command.