Extremal Reaches in Polynomial Time

Authors

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

Document Type

Conference Proceeding

Publication Date

7-15-2011

Publication Title

Proceedings of the Annual Symposium on Computational Geometry

Abstract

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.

Keywords

Reach problem, Robot arm

First Page

472

Last Page

480

DOI

10.1145/1998196.1998273

Rights

© 2011 ACM

Comments

Archived as published.

Recommended Citation

Borcea, Ciprian S. and Streinu, Ileana, "Extremal Reaches in Polynomial Time" (2011). Computer Science: Faculty Publications, Smith College, Northampton, MA.
https://scholarworks.smith.edu/csc_facpubs/295