A diffusion-based algorithm for workspace generation of highly articulated manipulators

Motivated by a physical phenomenon, the diffusion process, this paper develops a diffusion-based algorithm for workspace generation of highly articulated manipulators. This algorithm makes the workspace generation problem as simple as solving a diffusion-type equation which has an explicit solution. This equation is a partial differential equation defined on the motion group and describes the evolution of the workspace density function depending on the manipulator length and kinematic properties. Numerical simulations using this algorithm are also presented.