WORKCELL FEASIBILITY LAB · 01
Will the arm complete the transfer?
Move the destination fixture. Check six tool poses, then the motion between them. Export the evidence behind the result.
NO HARDWARE CONNECTION
01 / LAYOUT
Destination fixture
02 / RESULT
Checking layout…
- Valid tool poses
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- Motion-only time
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- Min. sampled clearance
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- Checked path samples
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Time assumes a 60°/s per-joint cap. No acceleration, grasping or dwell time is modeled. Clearance includes an 8 mm link radius.
03 / DIAGNOSIS
Every required pose, not just the endpoint
Tool orientation is fixed at −90°. Select a row to inspect an available pose.
| Pose | X / Y (mm) | Valid IK branches | Result |
|---|
04 / DECISION
Compare 12 fixture positions
Evaluate the same task from 140 to 360 mm, with the current obstacle setting. Passing layouts can be loaded below.
Model, method, and limits
This extends my portfolio’s point-following arm into a fixture-layout screening tool. It uses a separate, dimensioned three-revolute-joint model with 180 / 150 / 70 mm links and ±170° / ±150° / ±170° joint limits. It is not a model of the xArm or RX-200.
Analytical inverse kinematics solves both elbow branches for each position and tool orientation. Dynamic programming selects the lowest motion-time route among sampled-valid, straight joint-space transitions between those branches. Capsule-to-rectangle and nonadjacent-link distance checks reject intersecting poses. Interpolation samples are at most 1° apart per joint.
A failed direct sequence does not prove that no detour exists. A sampled pass does not prove continuous collision freedom or safe physical motion. The model omits acceleration, payload, the grasped object, ground, cables, 3D geometry and controller behavior. CSV output is analysis data, not executable robot commands.
The report records dimensions, limits, fixture position, obstacle, sample spacing and software version so the calculation can be reproduced. No data leaves your browser.
Method reference: OMPL discrete motion validation. This implementation is independent and does not use OMPL.