Evaluation of task realizability for robot systems in representation space

This paper investigates task realizability for robot systems with a representation space-based technique. It is a general technique which can be applied to different robot systems with various tasks. In this paper, initial results on evaluation of motion planning tasks are presented to show the effectiveness of the proposed technique. Path planning tasks of a two-link revolute manipulator in presence of obstacles are exemplified. Optimal strategy for a realizable task is solved out, while root causes for unrealizable tasks are diagnosed and strategies are designed to fix unrealizable tasks. Simulation results demonstrate that the proposed technique helps in determining whether a task is feasible and fixing infeasible tasks.