generating every possible trajectory in a workspace

Hey everyone, is it possible to generate every possible trajectory in matlab/simulink for a 6 axis robotic arm in a given workspace? If so, how could you please help me ?

I checked the manipulatorStateSpace but didn't seem like what I was looking for (correct me if I was wrong).

Answer 1

[John D'Errico]

Um, no. There are infinitely many possible trajectories, if we consider the variables as continuous. But even if all variables were considered as discrete variables, a 6 dimensional parameter space is a massive thing. So even if you could generate all possible trajectories, you would not want to do so, nor would you have the memory to generate and store them all, or the CPU time to do so.

[Denizhan AKINCI]

Okay, thank you for your answer

[John D'Errico]

Typically, this is why we use optimization tools, to allow us to search through a space that is too complex to generate all possible alternatives.

[Sam Chak]

Instead of generating all possible trajectories, can you generate the reachable end effector 3D workspace?

Stocco, L., Salcudean, S. E., & Sassani, F. (1998). Fast constrained global minimax optimization of robot parameters. Robotica, 16(6), 595–605.

[Denizhan AKINCI]

Agreed, it seems like a promising idea. I should also subtract the area where collision objects are located, right? This way, we can effectively observe the reachable workspace with the objects surrounding the robot. I currently don't know how to do it but I am sure I can figure it out !