The functional work space for a given orientation is a subset of the work envelope and is not intuitive to define for 6 axis industrial robots. A 2D boundary curve is derived for each desired end effector orientation and tool vector. This is done via a geometric analysis and using the Denavit-Hartenberg notation for the forward kinematic representation. The feasible region for all orientations is determined by the use of Boolean intersections. Disjoint regions may occur. Assessing these elements establishes the boundary limits for subsequent evaluation and optimization tasks. An ABB IRB 140 robot is used to highlight the methodology.

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