Efficient evaluation of the feasibility of robot displacement trajectories

A robot motion trajectory is feasible if it lies entirely in the robot's workspace. It is often desirable to be able to evaluate efficiently if a motion trajectory is feasible so as to terminate infeasible trajectories before their execution begins. A method that allows one to determine the feasibility of displacement trajectories of wrist-partitioned robot manipulators is described. The workspace description of a robot manipulator in general using workspace analysis based on polynomial discriminants is obtained, and the simplicity of the workspace description by examples is shown. A set of algebraic equations is derived that allows one to evaluate the feasibility of displacement trajectories efficiently without using inverse kinematics.>