Extremal Reaches in Polynomial Time

Ciprian S. Borcea, Rider University
Ileana Streinu, Smith College

Archived as published.


Given a 3D polygonal chain with fixed edge lengths and fixed angles between consecutive edges (shortly, a revolutejointed chain or robot arm), the Extremal Reaches Problem asks for those configurations where the distance between the endpoints attains a global maximum or minimum value. In this paper, we solve it with a polynomial time algorithm. Copyright 2011 ACM.