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The goal of this paper is to define the n-connected regions in the Cartesianworkspace of fully-parallel manipulators, i.e. the maximal regions where it ispossible to execute point-to-point motions. The manipulators considered in thisstudy may have multiple direct and inverse kinematic solutions. The N-connectedregions are characterized by projection, onto the Cartesian workspace, of theconnected components of the reachable configuration space defined in theCartesian product of the Cartesian space by the joint space. Generalized octreemodels are used for the construction of all spaces. This study is illustratedwith a simple planar fully-parallel manipulator.

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators