Identification of Regions Within a Robotic Manipulator Work Envelope Which Minimize Tracking Error

In current robot path planning strategies, the user specifies a path in space and a velocity profile along the path, but there is no specification of the acceptable deviation of the hand from the preplanned path. This deviation may be very large due to high accelerations that are encountered at certain areas within the work envelope, such as regions near the singular points of the manipulator. The study of robot joint synchronization leads to the determination of these areas. The proposed method will construct regions within the work envelope which will satisfy an error criteria on the path. These regions will be a function of the path velocity.