Method and System for Generating a Path for a Robot Arm and a Tool Attached to the Robot Arm

A method for generating a path (P) of a tool (6) attached to a robot arm (2) is disclosed. The robot arm (2) is placed in a workspace (8) that can comprise obstacles (22, 24 26, 26', 26''). The robot arm (2) is connected to a compute box (40) that is configured to control the motion of the robot arm (2). The path (P) has a starting point (A) and an end point (B). The path (P) is composed by a plurality of sub-motions (d1, d2, d3, ..., dN-2, dN-1, dN). The method comprises the step of creating the path (P) as a single consecutive motion, wherein the i-th sub-motion (di) is determined by an optimization process carried out on the basis of predefined characteristics of : a) the previous sub motion (di-1); a) the workspace (8) and its obstacles (22, 24 26, 26', 26'') if any; b) the tool (6) and c) the robot arm (2).