ANALYSIS AND EVALUATION METHOD OF ROBOT MANIPULATOR WORKSPACE

This paper describes our recursive algorithm for workspace mapping of n-degree-of-freedom,manipulator in a Particular Plane.It combines H-D transformation withpolar coordinates transformation and calculates the volume of robot workspace whenthe geometric parameters of the manipulator are assigned.The other part of the paper introduces two specifications for robot workspacecalculation.Then,some examples are given for discussing.