How do you describe the configuration space?
In mathematics, a configuration space is a construction closely related to state spaces or phase spaces in physics. In physics, these are used to describe the state of a whole system as a single point in a high-dimensional space.
What is the robot’s configuration space?
The configuration space, or “C-Space”, of a robot is the space of possible positions the robot may attain. The X-axis in this view is the orientation of the first link. The Y-axis is the orientation of the second link.
Why is configuration space important?
The Configuration Space. Once the configuration space is clearly understood, many motion planning problems that appear different in terms of geometry and kinematics can be solved by the same planning algorithms. This level of abstraction is therefore very important.
How many dimensions are there in configuration space?
in configuration space. We can’t visualise that space any longer because it’s six-dimensional. That’s not a problem though, as we know that it stands for two particles in ordinary 3D space.
What is phase space and configuration space?
Point in configuration space represents configuration of the system, i.e. positions of the constituent particles. Point in phase space represents state of the system, i.e. positions and velocities of the constituent particles together.
What is the difference between workspace and configuration space?
The C-space is the space of all possible configurations of a robot. The workspace is a specification of the configurations that the end-effector of the robot can reach, and has nothing to do with a particular task.
What is task space and joint space?
Task space (or Cartesian space) is defined by the position and orientation of the end effector of a robot. Joint space is defined by a vector whose components are the translational and angular displacements of each joint of a robotic link.
Is configuration space a vector space?
They are not related structurally: Configuration space is a manifold which in general has no vector space structure.
What are the four basic robot configuration available commercially?
There are six major types of robot configurations: Cartesian, Cylindrical, Spherical, Selective Compliance Articulated Robot Arm (SCARA). Articulate, and Delta (Parallel).
What is a task space?
Task space (or Cartesian space) is defined by the position and orientation of the end effector of a robot. Joint space is defined by a vector whose components are the translational and angular displacements of each joint of a robotic link. Task space PD control is the simplest scheme to control robot manipulators.
What are the five different configurations of robot?
A simpler, more complete definition of robotic types can be narrowed down to five types: Cartesian, Cylindrical, SCARA, 6-Axis and Delta. Each industrial robot type has specific elements that make them best-suited for different applications. The main differentiators among them are their speed, size and workspace.
What is the commonly used robot configuration in research?
The most commonly used robot configurations for industrial automation, include articulated robots, SCARA robots and gantry robots. In the context of general robotics, most types of industrial robots would fall into the category of robot arms.