The configuration space of a robotic arm in a tunnel of width 2
We study the motion of a robotic arm inside a rectangular tunnel of width 2. We prove that the configuration space S of all possible positions of the robot is a CAT(0) cubical complex. Before this work, very few families of robots were known to have CAT(0) configuration spaces. This property allows...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Discrete Mathematics & Theoretical Computer Science
2020-04-01
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| Series: | Discrete Mathematics & Theoretical Computer Science |
| Subjects: | |
| Online Access: | https://dmtcs.episciences.org/6402/pdf |
| Summary: | We study the motion of a robotic arm inside a rectangular tunnel of width 2. We prove that the configuration space S of all possible positions of the robot is a CAT(0) cubical complex. Before this work, very few families of robots were known to have CAT(0) configuration spaces. This property allows us to move the arm optimally from one position to another. |
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| ISSN: | 1365-8050 |