Workspace Solution for 3-DOF Parallel Robot using Spherical Coordinate Partitioning
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Resource Overview
MATLAB program for solving the workspace of a 3-DOF parallel robot, implementing spherical coordinate segmentation method with space partitioning algorithms
Detailed Documentation
For a given 3-DOF parallel robot, the following MATLAB program can be used to solve its workspace. The implementation begins by dividing the workspace into spherical coordinate system segments. The algorithm utilizes spherical coordinate partitioning to compute the robot's reachable workspace, where key functions include coordinate transformation, boundary detection, and spatial point validation. The program systematically evaluates each spherical coordinate segment to determine accessible positions while considering robot kinematic constraints and joint limitations.
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