Path feasibility and modification

Kuu‐Young ‐Y Young*, Chi‐Haur ‐H Wu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric information can be derived from the planned path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed feasibility and modification schemes, simulations for a 6R robot manipulator are executed.

Original languageEnglish (US)
Pages (from-to)613-633
Number of pages21
JournalJournal of Robotic Systems
Issue number5
StatePublished - Jul 1992

ASJC Scopus subject areas

  • Control and Systems Engineering


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