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In this paper, we present an efficient system for computing the 3-D reachable workspace for redundant manipulators with joint limits. In our system, we have decomposed the 3-D reachable workspace problem into two major sub-problems: workspace point generation and surface computation. We describe different algorithms that are used to build these modules. Finally, we discuss the advantages offered by our system.
Alameldin, T., Badler, N. I., & Sobh, T. (1990). An Adaptive and Efficient System for Computing the 3-D Reachable Workspace. Retrieved from http://repository.upenn.edu/hms/81
Date Posted: 09 August 2007