The point-to-point trajectory formulation presented in this video connects a sequence of target points in three-dimensional space that are located beyond the static workspace of the mechanism. Compared to previously proposed approaches, this technique produces very large regions of attainable target points. In particular, it is proven that horizontal trajectories are always feasible, for any prescribed target point. Link to the article: https://ieeexplore.ieee.org/document/8370080/