An evaluation strategy of robot operation based on discrete workspace

Reliable robot operation is of great significance to area of service and industry. However, it is still a challenge to achieve the goal. Aiming at improving operation reliability in different poses of end-effector, an operation strategy is proposed based on data of uniform discrete workspace. The strategy consists of two main stages with consideration of feasibility and priority of orientations. In the first, a method called inner-outer-layer is proposed as fundamental evaluation to filter out bad orientations and gives basic scores. In the second stage, other critical factors are considered. Next, indexes of manipulability are designed for the method and discrete workspace. Then, uniform discrete workspace data are sampled with IK method. Finally, pick experiment are carried out, which proves effectiveness of this strategy.