Test of the reachability of a robot to an object

Abstract

The testing of the reachability of a robot to an object is considered. A novel approach is proposed to test whether a given generalized cuboid is reachable by a robot. The problem is normalized as a nonlinear programming problem. It is solved using the revised generalized reduced gradient algorithm. Two examples (RHINO robot and Planar 2R robot) are included to show that the proposed approach is effective and has good convergence. It is suitable for testing the reachability of a robot to an arbitrary specified generalized cuboid with desired accuracy. The algorithm can also be extended to handle other problems in robotics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>