Concept
Configuration space
You might say: C-space, joint space
Configuration space is the space of all robot configurations; one point represents one complete set of joint or base coordinates.
- What it does
- Turns motion among bodies into motion of a point through free and forbidden regions.
- Ask
- What is the dimension of this space, and where are its narrow passages?
Sources
- Howie Choset et al., Principles of Robot Motion: Theory, Algorithms, and Implementations, Lecture 3, Configuration Space
A key concept for motion planning is a configuration: a complete specification of the position of every point in the system.
- Mark W. Spong, Seth Hutchinson and M. Vidyasagar, Robot Modeling and Control, Ch. 1 §1.1.2
A configuration of a manipulator is a complete specification of the location of every point on the manipulator.
Use it on your project
teardown-apply: hold "Configuration space" (configuration-space) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal