This paper describes an algorithm to map the workspace of a generalized manipulator on computer graphics. A workspace that can be simulated, displayed, and manipulated in real time on computer graphics is a very useful and efficient tool for the analysis, design, and motion planning of a manipula tor. The algorithm is developed for generalized manipulators with constrained revolute and prismatic joints. Workspace characteristics such as size, shape, and presence of holes and voids are investigated. We have tested the algorithm and have concluded that it is computationally feasible and effec tive in mapping the manipulator's workspace on interactive computer graphics.
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