Application of Recursive Algorithms for Optimization and Approximation of Workspace of Parallel Robots

The article discusses the application of various methods for transforming the workspace of a parallel 3-PRRR robot to reduce data storage and simplify the visualization process. Two approaches to transforming the workspace have been proposed and described. Transformation is a re-decomposition of the workspace into geometric shapes without loss of approximation quality. The first approach is finding the minimum covering a set of rectangles for each face of the outside of the workspace. The basis of the approach is the application of the depth-first search algorithm for a bipartite graph. The second approach is based on a constrained Delaunay triangulation algorithm to each outer face of the workspace. A comparative assessment of the results of the proposed approaches is given.