generating every possible trajectory in a workspace

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Denizhan AKINCI 2024-2-27

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评论： Denizhan AKINCI 2024-2-28

Hey everyone, is it possible to generate every possible trajectory in matlab/simulink for a 6 axis robotic arm in a given workspace? If so, how could you please help me ?

I checked the manipulatorStateSpace but didn't seem like what I was looking for (correct me if I was wrong).

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Answer 1

John D'Errico 2024-2-27

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Um, no. There are infinitely many possible trajectories, if we consider the variables as continuous. But even if all variables were considered as discrete variables, a 6 dimensional parameter space is a massive thing. So even if you could generate all possible trajectories, you would not want to do so, nor would you have the memory to generate and store them all, or the CPU time to do so.

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Sam Chak 2024-2-27

Instead of generating all possible trajectories, can you generate the reachable end effector 3D workspace?

Stocco, L., Salcudean, S. E., & Sassani, F. (1998). Fast constrained global minimax optimization of robot parameters. Robotica, 16(6), 595–605.

Denizhan AKINCI 2024-2-28

Agreed, it seems like a promising idea. I should also subtract the area where collision objects are located, right? This way, we can effectively observe the reachable workspace with the objects surrounding the robot. I currently don't know how to do it but I am sure I can figure it out !

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