Method for determining possible positions of a robot arm

A method for determining possible positions of a robot arm of a robot, wherein the robot arm comprises a frame, a plurality of successively arranged links that can move in relation to one another with respect to axes, and drives for moving the links, the method comprising:

• defining a target position and target orientation in space of a robot arm or a tool center point assigned to the robot arm or an end effector attached to the robot arm, to which a reference coordinate system having polar coordinates is assigned;
• determining with a computer potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system, based on the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation;
• and
• locating the frame at one of the determined positions;
• wherein the robot is a mobile robot;
• and
• a first polar coordinate defines the distance of the mobile robot from the origin of the reference coordinate system, a second polar coordinate defines a direction of travel of the mobile robot, and a third polar coordinate defines an orientation of the mobile robot with respect to the reference coordinate system.