Abstract
Almost all recent work on the subject of workspace analysis and optimization has considered only simple geometries of robot regional structures. In this paper the forms of the general RRP regional structure workspace are discussed together with the criteria for cusps on inner boundaries. A closed form equation defining the location of workspace cusps is derived which may be solved by a numerical technique written specifically for this equation. Another equation is presented which may be used to generate all the workspace boundaries in a very efficient manner. Potential benefits of complex geometries for certain applications are discussed and to illustrate movement possibilities in a workspace region with internal boundaries, a simple vertical path example is examined.
