Determining Points of a Circular Region Reachable by Joints of a Robot Arm
Hopcroft, John E.; Joseph, Deborah A.; Whitesides, Sue H.
An "arm" is a sequence of links whose endpoints are connected consecutively by movable joints. The location of the first endpoint is fixed. This report gives a polynomial time algorithm for determining the regions that each joint can reach when the arm is restricted to a circular region of the plane.
computer science; technical report
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