An Improved Method for Depicting Workspace Boundary of Planar Robot Manipulator

In order to depict a more accurate workspace boundary of planar robot manipulator, an improved numerical method is proposed in the paper. The algorithm searches boundary points of workspace from both axes, and connects these points in turn to form a closed curve. A robot manipulator is taken as an example, and least-square is applied to compare the errors of both workspaces which are generated by the previous and the improved methods. It proves that the present method is a feasible and efficient way to acquire a right and more accurate planar workspace.