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, Tarek

Badler, Norman I

Sobh, Tarek

English

ScholarlyCommons@Penn

University of PennsylvaniaScholarlyCommonsCenter for Human Modeling and Simulation Department of Computer & Information ScienceAugust 1990An Adaptive and Efficient System for Computingthe 3-D Reachable WorkspaceTarek AlameldinUniversity of PennsylvaniaNorman I. BadlerUniversity of Pennsylvania, badler@seas.upenn.eduTarek SobhUniversity of PennsylvaniaFollow this and additional works at: http://repository.upenn.edu/hmsCopyright 1990 IEEE. Reprinted from IEEE International Conference on Systems Engineering, 1990, August 1990, pages 503-506.This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of theUniversity of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish thismaterial for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE bywriting to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper is posted at ScholarlyCommons. http://repository.upenn.edu/hms/81For more information, please contact libraryrepository@pobox.upenn.edu.Recommended CitationAlameldin, 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/81An Adaptive and Efficient System for Computing the 3-D ReachableWorkspaceAbstractIn this paper, we present an efficient system for computing the 3-D reachable workspace for redundantmanipulators with joint limits. In our system, we have decomposed the 3-D reachable workspace problem intotwo major sub-problems: workspace point generation and surface computation. We describe differentalgorithms that are used to build these modules. Finally, we discuss the advantages offered by our system.CommentsCopyright 1990 IEEE. Reprinted from IEEE International Conference on Systems Engineering, 1990, August1990, pages 503-506.This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any wayimply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personaluse of this material is permitted. However, permission to reprint/republish this material for advertising orpromotional purposes or for creating new collective works for resale or redistribution must be obtained fromthe IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to allprovisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/hms/81

An Adaptive and Efficient System for Computing the 3-D Reachable Workspace

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 algo-rithms that are used to build these modules. Finally, we discuss the advantages offered by our system. 

Tarek Alameldin

Norman Badler

Tarek Sobh

CiteSeerX

An adaptive and efficient system for computing the 3-d reachable workspace

Kosmopolis

University of Pennsylvania
ScholarlyCommons
Center for Human Modeling and Simulation Department of Computer & Information Science
August 1990
An Adaptive and Efficient System for Computing
the 3-D Reachable Workspace
Tarek Alameldin
University of Pennsylvania
Norman I. Badler
University of Pennsylvania, badler@seas.upenn.edu
Tarek Sobh
University of Pennsylvania
Follow this and additional works at: http://repository.upenn.edu/hms
Copyright 1990 IEEE. Reprinted from IEEE International Conference on Systems Engineering, 1990, August 1990, pages 503-506.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the
University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this
material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by
writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
This paper is posted at ScholarlyCommons. http://repository.upenn.edu/hms/81
For more information, please contact libraryrepository@pobox.upenn.edu.
Recommended Citation
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
An Adaptive and Efficient System for Computing the 3-D Reachable
Workspace
Abstract
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.
Comments
Copyright 1990 IEEE. Reprinted from IEEE International Conference on Systems Engineering, 1990, August
1990, pages 503-506.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way
imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal
use of this material is permitted. However, permission to reprint/republish this material for advertising or
promotional purposes or for creating new collective works for resale or redistribution must be obtained from
the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all
provisions of the copyright laws protecting it.
This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/hms/81






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An Adaptive and Efficient System for Computing the 3-D Reachable Workspace

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