Configuration space model of tightly coordinated two robot manipulators operating in 3-dimensional workspace

1995 ◽  
Vol 25 (4) ◽  
pp. 695-704 ◽  
Author(s):  
Y.-P. Chien ◽  
Q. Xue ◽  
Y. Chen
Keyword(s):  
Configuration Space ◽  
Robot Manipulators ◽  
3 Dimensional ◽  
Space Model

Artin’s braids, braids for three space, and groups Γn4 and Gnk

2019 ◽  
Vol 28 (10) ◽  
pp. 1950063
Author(s):  
S. Kim ◽  
V. O. Manturov
Keyword(s):  
Fundamental Group ◽  
Configuration Space ◽  
Point Of View ◽  
Group Homomorphism ◽  
Delaunay Triangulations ◽  
3 Dimensional ◽  
Pachner Moves ◽  
Dimensional Ball ◽  
Three Space

We construct a group [Formula: see text] corresponding to the motion of points in [Formula: see text] from the point of view of Delaunay triangulations. We study homomorphisms from pure braids on [Formula: see text] strands to the product of copies of [Formula: see text]. We will also study the group of pure braids in [Formula: see text], which is described by a fundamental group of the restricted configuration space of [Formula: see text], and define the group homomorphism from the group of pure braids in [Formula: see text] to [Formula: see text]. At the end of this paper, we give some comments about relations between the restricted configuration space of [Formula: see text] and triangulations of the 3-dimensional ball and Pachner moves.

An Analysis of Multiple Peg-in-Hole Insertion Tasks

1996 ◽  
Author(s):  
Robert H. Sturges ◽  
Korntham Sathirakul
Keyword(s):  
Configuration Space ◽  
Small Angle ◽  
Equilateral Triangle ◽  
Degrees Of Freedom ◽  
Dimensional Problem ◽  
Design Strategies ◽  
Assembly Task ◽  
3 Dimensional ◽  
Passive Devices

Abstract In this paper an analysis of the physics of a multiple peg-in-hole assembly task is addressed. Insertion of three pegs, arranged in an equilateral triangle, into three holes simultaneously is chosen as an example case. Although a 3 dimensional problem, the small-angle assumption reduces the model to only 3 degrees of freedom: 2 translations in the XY plane and a rotation about the Z axis. The multiple-pegs are viewed as points in a 3 dimensional configuration-space (C-space.) The net force and torque due to contact during chamfer crossing at each point in the C-space are determined. It is shown that the net force and torque are in the directions of minimizing the lateral and angular errors of the pegs. Based on these data together with compliance models of Remote-Center Compliance (RCC) and Spatial RCC (SRCC), the force and torque that occur during multiple-peg insertion using these passive devices are predicted. The result from the prediction is used to compare the performance of the two devices, and to design strategies for successful insertion of this assembly task.

scholarly journals A Configuration Space Model for Intermediate-Scale Ionospheric Structure

Radio Science ◽  
2018 ◽  
Vol 53 (12) ◽  
pp. 1472-1480 ◽  
Author(s):  
Charles Rino ◽  
Charles Carrano ◽  
Keith Groves ◽  
Tatsuhiro Yokoyama
Keyword(s):  
Configuration Space ◽  
Intermediate Scale ◽  
Space Model

scholarly journals LINKING NUMBER IN A PROJECTIVE SPACE AS THE DEGREE OF A MAP

2007 ◽  
Vol 16 (04) ◽  
pp. 489-497 ◽  
Author(s):  
JULIA VIRO DROBOTUKHINA
Keyword(s):  
Projective Space ◽  
Configuration Space ◽  
The Self ◽  
Real Projective Space ◽  
3 Dimensional ◽  
Linking Number ◽  
Degree Of A Map ◽  
Number Of Cycles ◽  
Dimensional Projective Space

For any two disjoint oriented circles embedded into the 3-dimensional real projective space, we construct a 3-dimensional configuration space and its map to the projective space such that the linking number of the circles is the half of the degree of the map. Similar interpretations are given for the linking number of cycles in a projective space of arbitrary odd dimension and the self-linking number of a zero homologous knot in the 3-dimensional projective space.

scholarly journals Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6060
Author(s):  
Yangmin Xie ◽  
Rui Zhou ◽  
Yusheng Yang
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Path Length ◽  
Robot Manipulators ◽  
Computational Cost ◽  
Computation Time ◽  
Planning Strategy ◽  
Automatic Planning ◽  
Searching Method ◽  
Space Method

Real-time obstacle avoidance path planning is critically important for a robot when it operates in a crowded or cluttered workspace. At the same time, the computational cost is a big concern once the degree of freedom (DOF) of a robot is high. A novel path planning strategy, the distorted configuration space (DC-space) method, was proposed and proven to outperform the traditional search-based methods in terms of computational efficiency. However, the original DC-space method did not sufficiently consider the demands on automatic planning, convex space preservation, and path optimization, which makes it not practical when applied to the path planning for robot manipulators. The treatments for the problems mentioned above are proposed in this paper, and their applicability is examined on a three DOFs robot. The experiments demonstrate the effectiveness of the proposed improved distorted configuration space (IDCS) method on rapidly finding an obstacle-free path. Besides, the optimized IDCS method is presented to shorten the generated path. The performance of the above algorithms is compared with the classic Rapidly-exploring Random Tree (RRT) searching method in terms of their computation time and path length.

Reactive approach to on-line path planning for robot manipulators in dynamic environments

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 375-384
Author(s):  
Margarita Mediavilla ◽  
José Luis González ◽  
Juan Carlos Fraile ◽  
José Ramón Perán
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Local Algorithms ◽  
Planning Stage ◽  
New Approach ◽  
On Line ◽  
Line Path

This paper describes a new approach to path planning of robot manipulators with many degrees of freedom. It is designed for on-line motion in dynamic and unpredictable environments. The robots react to moving obstacles using a local and reactive algorithm restricted to a subset of its configuration space. The lack of a long-term view of local algorithms (local minima problems) is solved using an off-line pre-planning stage that chooses the subset of the configuration space that minimises the probability of not finding collision free paths. The approach is implemented and tested on a system of three Scorbot-er IX five link robots.

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