Exact Workspace Boundary by Extremal Reaches

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

This document has been relocated to https://scholarworks.smith.edu/csc_facpubs/242/


We present the first exact, combinatorial, polynomial time algorithm for computing the description of the workspace boundary for the class of revolute jointed robot arms arising from polygonal orthogonal chains in 3D. Copyright 2011 ACM.