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 subproblems: 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.
A more efficient system was later developed for computing W reach for manipulators with joint limits REF .
An adaptive and efficient system for computing the 3D reachable workspace
1990 IEEE International Conference on Systems Engineering
1990 IEEE International Conference on Systems Engineering
Computer Science