MATLAB Toolbox for Reachability Analysis and Visualization of Robotic Manipulators

Abstract

Robotic manipulators have existed in the industrial landscape for decades. However, recent technological advancements have significantly increased their prevalence in various factories and research facilities. The effective utilization of a manipulator demands a comprehensive analysis of its specifications and capabilities. A crucial aspect of this analysis involves investigating the reachability of the manipulator's end effector, enabling optimal placement and utilization of the robot. This paper introduces a MATLAB toolbox developed to calculate and visualize the reachability of the end effectors of manipulators. This toolbox assists robotic researchers and practitioners in generating a workspace and reachability map for a robotic manipulator—a feature not available in any other toolbox or library in MATLAB.