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For real robots there are a few extra things to think about. Is a particular point actually reachable? Our old friend, singularity or gimbal lock reappears in the wrist.

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.

We consider a robot with three joints that moves its end-effector on a plane.

The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.

We summarise the important points from this lecture.

An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.