In this paper, we discuss the problem of computing the reachable workspace for redundant manipulators. Algorithms that compute workspace boundary points by using screw theory are presented. These algorithms cannot distinguish holes and voids that are buried within the reachable workspace. We present an algorithm that utilizes inverse kinematics in order toâ€¦ (More)

The problem of computing the 3-D workspace for redundant articulated chains has applications in a variety of fields such as robotics, computer aided design, and computer graphics. The computational complexity of the workspace problem is at least NP-hard. The recent advent of parallel computers has made practical solutions for the workspace problem possible.â€¦ (More)

An efficient system for computing the 3D reachable workspace for redundant manipulators with joint limits is presented. In this system, the 3D reachable workspace problem is decomposed into two major subproblems. They are workspace point generation and surface computation. Different algorithms are described that are used to build these modules. Theâ€¦ (More)