Class #3:
Configuration Space of a Robot
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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
- Slides