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journal article·2025-05-12Open access

Defining Feasible Joint and Geometric Workspaces Through Boundary Functions

Jorge A. Lizarraga, Dulce M. Navarro, Marcela E. Mata-Romero, Luis F. Luque-Vega, Luis Enrique González-Jiménez, Rocío Carrasco-Navarro, Salvador Castro-Tapia, Héctor A. Guerrero-Osuna, Emmanuel Lopez-Neri

Applied Sciences· Volume 15· Issue 10
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Source abstract

Abstract

This work presents an alternative method for defining feasible joint-space boundaries and their corresponding geometric workspace in a planar robotic system. Instead of relying on traditional numerical approaches that require extensive sampling and collision detection, the proposed method constructs a continuous boundary by identifying the key intersection points of boundary functions. The feasibility region is further refined through centroid-based scaling, addressing singularity issues and ensuring a well-defined trajectory. Comparative analyses demonstrate that the final robot pose and reachability depend on the selected traversal path, highlighting the nonlinear nature of the workspace. Additionally, an evaluation of traditional numerical methods reveals their limitations in generating continuous boundary trajectories. The proposed approach provides a structured method for defining feasible workspaces, improving trajectory planning in robotic systems.
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Research context

OpenAlex topics: Manufacturing Process and Optimization · Robotic Mechanisms and Dynamics · Robot Manipulation and Learning

SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.

Affiliations

Departamento de Investigación, Centro de Enseñanza Técnica Industrial, Guadalajara 44638, Jalisco, Mexico

Subdirección de Investigación, Centro de Enseñanza Técnica Industrial, Guadalajara 44638, Jalisco, Mexico

Department of Technological and Industrial Processes, ITESO, Tlaquepaque 45604, Jalisco, Mexico

Tecnológico Nacional de México, Instituto Tecnológico Superior de Jerez, Jerez 99863, Zacatecas, Mexico

Department of Electronics Systems and Computing, ITESO, Tlaquepaque 45604, Jalisco, Mexico

Department of Mathematics and Physics, ITESO, Periférico Sur Manuel Gómez Morín 8585, Tlaquepaque 45604, Jalisco, Mexico

Posgrado en Ingeniería y Tecnología Aplicada, Unidad Académica de Ingeniería Eléctrica, Universidad Autónoma de Zacatecas, Zacatecas 98000, Zacatecas, Mexico

Centro de Investigación, Innovación y Desarrollo Tecnológico CIIDETEC-UVM, Universidad del Valle de México, Tlaquepaque 45601, Jalisco, Mexico

Funding

SECIHTI

References (17)

Show source-provided references
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