Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design

© The Author(s), under exclusive license to APress Media, LLC, part of Springer Nature 2023

F. FrigeniIndustrial Robotics ControlMaker Innovations Serieshttps://doi.org/10.1007/978-1-4842-8989-1_6

6. Workspace Monitoring

Fabrizio Frigeni¹  

(1)

Shanghai, China

 

In the path-planning chapter, we have learned how to describe several different curves in space using parametric equations. However, while all those formulas can generate mathematically valid paths, it is not always physically possible for the robot’s TCP to move along those curves.

There are essentially two distinct reasons why a given position in space would not be acceptable. The first is that the robot’s own mechanics cannot stretch enough to reach that point. Verifying such a condition ...