On the evaluation of reachable workspace for redundant manipulators

Abstract

In this paper, we discuss the problem of computing the reachable workspace for redundant manipulators. Algorithms that compute workspace boundary points by using screw theory are presented. These algorithms cannot distinguish holes and voids that are buried within the reachable workspace. We present an algorithm that utilizes inverse kinematics in order to detect the unreachable regions (holes and voids) within the reachable workspace.