Alameldin, TarekBadler, Norman ISobh, Tarek2023-05-222023-05-221990-08-012007-08-08https://repository.upenn.edu/handle/20.500.14332/36548In this paper, we present an efficient system for computing the 3-D reachable workspace for redundant manipulators with joint limits. In our system, we have decomposed the 3-D reachable workspace problem into two major sub-problems: workspace point generation and surface computation. We describe different algorithms that are used to build these modules. Finally, we discuss the advantages offered by our system.Presentation