Trajectory feasibility based on cartesian workspace for robot manipulators

A feasible Cartesian trajectory of a robot manipulator means that every point along the planned trajectory is within the workspace of the robot. The decision of a feasible Cartesian trajectory given to a robot manipulator is an important element of an intelligent robot system. In this paper, a method based on the robot workspace geometry to decide the feasibility of a given trajectory is presented. The method treats the workspace of a robot manipulator as a geometrical object, then this geometrical workspace can be properly described and utilized to determine the feasibility of a Cartesian trajectory. Due to the complexity of the general case, a robot manipulator system with six revolute joints is selected as the case study.