General algorithm for automatic generation of the workspace for n-link redundant manipulators

An efficient algorithm to simulate the workspace for n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is the automatic generation of the binary angle selection code for the given manipulator. This code system enables one to avoid repetitions in calculating positions and plotting arcs for the workspace and thus save computing and graphic time considerably. Two types of workspace are possible using this algorithm. The first type is to plot the outer boundary contour of the workspace and the second one includes all the hierarchical arcs within the workspace. Numerical examples including the workspace of human arm motion and that of 20-link system are demonstrated to illustrate the effectiveness of the algorithm through the developed workspace simulator.<>