The configuration space of a robotic arm in a tunnel
Federico Ardila, Hanner Bastidas, Cesar Ceballos, John Guo
TL;DR
This paper characterizes the configuration space of a robotic arm in a tunnel as a CAT(0) cubical complex, enabling efficient motion planning and analysis of the robot's movement capabilities.
Contribution
It proves the configuration space is a CAT(0) cubical complex and applies geometric group theory techniques for optimal motion planning.
Findings
Configuration space is a CAT(0) cubical complex
Derived methods for optimal robot movement
Computed the diameter of the configuration space
Abstract
We study the motion of a robotic arm inside a rectangular tunnel. We prove that the configuration space of all possible positions of the robot is a CAT(0) cubical complex. This allows us to use techniques from geometric group theory to find the optimal way of moving the arm from one position to another. We also compute the diameter of the configuration space, that is, the longest distance between two positions of the robot.
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Taxonomy
TopicsModular Robots and Swarm Intelligence · Genome Rearrangement Algorithms · Digital Image Processing Techniques