Proceedings of the Annual Symposium on Computational Geometry
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.
Reach problem, Robot arm
© 2011 ACM
Borcea, Ciprian S. and Streinu, Ileana, "Extremal Reaches in Polynomial Time" (2011). Computer Science: Faculty Publications, Smith College, Northampton, MA.