Ask Your Question

Calculating/Visualizing a Manipulator's Reach Envelope/Workspace

asked 2017-03-20 14:52:47 -0500

I'm interested in developing a custom manipulator, and I wanted to do some iterative studies on link lengths and joint limits by seeing what the resulting reach envelope/workspace is.

Are there any tools in ROS that can help create something like this?

I came across this video of a robot in VREP doing something very similar to what I'm interested in.

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2017-03-23 07:25:28 -0500

Airuno2L gravatar image

OpenRave can do this I believe. Here is an example:

edit flag offensive delete link more


I'm looking into OpenRAVE. It does seem really fantastic, and I actually was able to run a study on my current design, but my issue just get a 3D model with a cloud. How do I compute workspace dimensions and so on with it? There's also no information as to how the color coding is setup?

atomoclast gravatar image atomoclast  ( 2017-03-23 09:56:37 -0500 )edit

answered 2017-03-21 06:23:48 -0500

v4hn gravatar image

Great question. Something like that is definitely missing in MoveIt and I don't know of a separate ROS module for that.

I know Shaun Edwards gave a presentation at ROSCon two years ago where he complained about missing tools for this... ( )

The video you reference looks nice. Do you know whether the code for the visualization is Open Source? The setup in the video is pretty easy and I could imagine things get more complicated when you try to visualize the workspace of a 7-dof arm with rotational joints.

edit flag offensive delete link more


It's not too polished at the moment, but the reuleaux project can do something like that for you.

gvdhoorn gravatar image gvdhoorn  ( 2017-03-21 16:12:23 -0500 )edit

Yeah, I'm looking into Reuleaux!

Just need to do some stuff to get it to play nicely with Kinetic.

atomoclast gravatar image atomoclast  ( 2017-03-23 09:55:26 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2017-03-20 14:52:47 -0500

Seen: 640 times

Last updated: Mar 23 '17