Determining Points of a Circular Region Reachable by Joints of a Robot Arm
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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.
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1982-08
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Cornell University
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computer science; technical report
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http://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR82-516
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technical report