Defining Feasible Joint and Geometric Workspaces Through Boundary Functions
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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/10/5383 |
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| author | 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 |
| author_facet | 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 |
| author_sort | Jorge A. Lizarraga |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-e477c3b2eccc4842829a26d45deaf51b |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-e477c3b2eccc4842829a26d45deaf51b2025-08-20T03:47:48ZengMDPI AGApplied Sciences2076-34172025-05-011510538310.3390/app15105383Defining Feasible Joint and Geometric Workspaces Through Boundary FunctionsJorge A. Lizarraga0Dulce M. Navarro1Marcela E. Mata-Romero2Luis F. Luque-Vega3Luis Enrique González-Jiménez4Rocío Carrasco-Navarro5Salvador Castro-Tapia6Héctor A. Guerrero-Osuna7Emmanuel Lopez-Neri8Departamento de Investigación, Centro de Enseñanza Técnica Industrial, Guadalajara 44638, Jalisco, MexicoDepartamento de Investigación, Centro de Enseñanza Técnica Industrial, Guadalajara 44638, Jalisco, MexicoSubdirección de Investigación, Centro de Enseñanza Técnica Industrial, Guadalajara 44638, Jalisco, MexicoDepartment of Technological and Industrial Processes, ITESO, Tlaquepaque 45604, Jalisco, MexicoDepartment of Electronics Systems and Computing, ITESO, Tlaquepaque 45604, Jalisco, MexicoDepartment of Mathematics and Physics, ITESO, Periférico Sur Manuel Gómez Morín 8585, Tlaquepaque 45604, Jalisco, MexicoTecnológico Nacional de México, Instituto Tecnológico Superior de Jerez, Jerez 99863, Zacatecas, MexicoPosgrado en Ingeniería y Tecnología Aplicada, Unidad Académica de Ingeniería Eléctrica, Universidad Autónoma de Zacatecas, Zacatecas 98000, Zacatecas, MexicoCentro de Investigación, Innovación y Desarrollo Tecnológico CIIDETEC-UVM, Universidad del Valle de México, Tlaquepaque 45601, Jalisco, MexicoThis 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.https://www.mdpi.com/2076-3417/15/10/5383planar robotfeasible workspaceself-collision constraintsboundary functionstrajectory planninggeometric modeling |
| spellingShingle | 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 Defining Feasible Joint and Geometric Workspaces Through Boundary Functions Applied Sciences planar robot feasible workspace self-collision constraints boundary functions trajectory planning geometric modeling |
| title | Defining Feasible Joint and Geometric Workspaces Through Boundary Functions |
| title_full | Defining Feasible Joint and Geometric Workspaces Through Boundary Functions |
| title_fullStr | Defining Feasible Joint and Geometric Workspaces Through Boundary Functions |
| title_full_unstemmed | Defining Feasible Joint and Geometric Workspaces Through Boundary Functions |
| title_short | Defining Feasible Joint and Geometric Workspaces Through Boundary Functions |
| title_sort | defining feasible joint and geometric workspaces through boundary functions |
| topic | planar robot feasible workspace self-collision constraints boundary functions trajectory planning geometric modeling |
| url | https://www.mdpi.com/2076-3417/15/10/5383 |
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