Robot joint space graph path planning and move execution

A method comprising:

• building, with respect to a joint space for multiple joints and one or more end effector of a robot arm, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space;
• determining multiple paths through the graph by executing, with a processing device, a graph optimization algorithm on the graph, wherein each path of the multiple paths comprises a group of the sub-paths and has one of a shortest distance or a lowest cost between a start point and an end point of the one or more end effector;
• and
• selecting a path, of the multiple paths, through the graph that minimizes a move time of the one or more end effector between the start point and the end point.

A non-transitory computer-readable medium storing instructions, which when executed by a processing device, cause the processing device to execute a plurality of operations comprising:

• building, with respect to a joint space for multiple joints and one or more end effector of a robot arm, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space;
• determining multiple paths through the graph by executing a graph optimization algorithm on the graph, wherein each path of the multiple paths comprises a group of the sub-paths and has one of a shortest distance or a lowest cost between a start point and an end point of the one or more end effector;
• and
• selecting a path, of the multiple paths, through the graph that minimizes a move time of the one or more end effector between the start point and the end point.