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An adaptive and efficient system for computing the 3D reachable workspace

An efficient system for computing the 3D reachable workspace for redundant manipulators with joint limits is presented. In this system, the 3D reachable workspace problem is decomposed into two major subproblems. They are workspace point generation and surface computation. Different algorithms are described that are used to build these modules. The advantages offered by the system include modularity, flexibility, parallel implementation, adaptability, and generality