Robot Workspace Geometry For Trajectory Feasibility Study

Due to the physical constraints of a robot manipulator, the successfulness of robot executing a planned Cartesian trajectory depends on the feasibility of this planned trajectory. As the constraints of robot's work-space, configuration and singularity can be described by the geometry of robot's workspace, the kinematic feasibility of a planned trajectory call be tested through workspace's geometry. Due to the complexity of the general case a robot manipulator with six revolute joints (6R) is selected as the case study in this paper. As a result, any point along a planned Cartesian trajectory can be determined whether it is inside the robot's workspace, if it is in the region of singularity, and be provided with the suitable robot configurations.