Center for Human Modeling and Simulation

Document Type

Conference Paper

Date of this Version

August 1990


Copyright 1990 IEEE. Reprinted from IEEE International Conference on Systems Engineering, 1990, August 1990, pages 503-506.

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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.



Date Posted: 09 August 2007