THE CONFIGURATION SPACE OF A ROBOTIC ARM IN A TUNNEL

被引：6

作者：

Ardila, Federico ^{[1
,2
]}

Bastidas, Hanner ^{[3
]}

Ceballos, Cesar ^{[4
]}

Guo, John ^{[1
]}

机构：

[1] San Francisco State Univ, Dept Math, San Francisco, CA 94132 USA

[2] Univ Los Andes, Bogota 111711, Colombia

[3] Univ Valle, Dept Matemat, Cali 76001, Colombia

[4] Univ Vienna, Fac Math, A-1010 Vienna, Austria

来源：

SIAM JOURNAL ON DISCRETE MATHEMATICS | 2017年 / 31卷 / 04期

关键词：

CAT(0); cubical complex; robot; motion planning; poset with inconsistent pairs; distributive lattice; tableau; lattice path; GEOMETRY;

D O I：

10.1137/16M1089411

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

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.

引用

页码：2675 / 2702

页数：28

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