A feasible Cartesian trajectory of a robot manipulator means that every point along the planned trajectory is within the workspace of the robot. Deciding the feasibility of a Cartesian trajectory given to a robot manipulator is an important element of an intelligent robot system. A decision method based on the robot workspace geometry 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 a case study.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|State||Published - Jan 1 1986|
ASJC Scopus subject areas