Determining Points of a Circular Region Reachable by Joints of a Robot Arm
John E. Hopcroft, Deborah A. Joseph, Sue H. Whitesides · Defense Technical Information Center (DTIC) · 1982
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.