Class #3: Configuration Space of a Robot
________________________________________________________________________________________________________________

The 3 drawings on the left shows two representations of the configuration space of a 2-revolute-joint arm: a torus and a square. The drawings on the right illustrate the mapping of workspace obstacles into the configuration space.

• Topics:
  - Notion of a robot configuration and configuration space
  - Parameterizations of a configuration
  - Notion of a path and a trajectory
  - Obstacle mapping
  - Other types of forbidden regions
  - Topological structure of configuration space
• Required Readings:
• Chapter 3: Configuration Space, from Principles of Robot Motion, by H. Choset et al., MIT Press, 2004
  
  
• Powerpoint slides