Intro to Robotics, Class Worksheet Lecture 20

Name:

Configuration

Configuration space

Workspace:

Obstacle in workspace Robot

Area occupied by robot at configuration 𝑞

Configuration space obstacle: 𝒬𝒪 =

in which 𝒪 =

Free configuration space:

Rigid body that translates in plane:

Obstacles for 2-link robot arm

Curse of dimensionality

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 Intro to Robotics, Class Worksheet – Preparation for Lecture 21

Describe the configuration space for the robots below:

1. Robot that can translate and rotate in the plane

2.

03_24

3.

03_23

4.

03_25

5.

6.
7. at http://demonstrations.wolfram.com/RobotMotionWithObstacles/, attach screenshot
of the narrowest corridor you can make that the robot can get out of. Also attach a
screenshot where the robot is trapped.

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 Intro to Robotics, Feedback
1. What is working about the WS handouts?

2. What isn’t working about the WS handouts?

3. What is working about the lectures?

4. What isn’t working about the lectures?

5. What is working about the robot demos?

6. What isn’t working about the robot demos?

7. What is working about the homeworks?

8. What isn’t working about the homeworks?

9. What is working about the final project?

10. What isn’t working about the final project?

11. What worked in the exam?

12. What didn’t work in the exam?

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