Formulation and Algorithms for Solving the Manipulator Reachable Work Space Problems

The reachable work space [16] is one of the most important aspects of manipula­ tor kinematics. It may be concerned in many significant problems such as:

1. Feasibility test of the planned trajectory for a robot manipulator, 2. Reachability test of a robot to an object or a region, 3. Evaluation and display of the manipulator reachable work space, etc.