Configuration Space

A complete specification of the position of every point in the system a simple example.

Configuration space. Configuration space a key concept for motion planning is a configuration. What is a sufficient representation of its configuration. To specify the positions of two particles six coordinates are needed x1 y1 z1 x2 y2 z2. Analogously we call the group p m m σ m the pure braid group on m strings of the manifold m and denote it by p m m.

It is often the case that these parameters satisfy mathematical constraints such that the set of actual configurations of the system is a manifold in the space of generalized coordinates. The configuration space or c space of a robot is the space of possible positions the robot may attain. That s all the positions the particle could be at and it s a portion of ordinary 3d space as we know it. Configuration space is a set of allowed system configurations over which the optimal solution variables are searched for.

In classical mechanics the parameters that define the configuration of a system are called generalized coordinates and the vector space defined by these coordinates is called the configuration space of the physical system. The x axis in this view is the orientation of the first link. The braid group br m m σ m is called the braid group on m strings of the manifold m and is denoted by br m m. This manifold is called the configuration manifold of the system.

The configuration space is also a subset of the two dimensional space of real numbers because the joint configuration can be described by a pair of real numbers that is q1 and q2. We call orb m m σ m the configuration space of the manifold m and denote by b m m. Design of configuration space is critical to the efficiency of the sa based solution algorithm and the quality of final solutions. The configuration space for this robot is a vector that comprises q1 and q2 the two joint angles.

A configuration space of a physical system gives you all the possible states it can be in. Configuration space physics configuration space mathematics the space of arrangements of points on a topological space. A robot that translates but does not rotate in the plane. B the perturbation mechanism is a set of feasible moves by which variables are to be solved.

For example if the system consists of an air molecule moving around in a room then configuration space can consist of all the points in the room. The y axis is the orientation of the second link. Pci configuration space the underlying way that the conventional pci pci x and pci express perform auto configuration of the cards inserted into their bus. Notice that this is.

Configuration space is a handy mathematical and conceptual tool which was developed to help us think about these kinds of problems in a unified framework.