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Ws 21 Introrobots

Robotics 21

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14 views3 pages

Ws 21 Introrobots

Robotics 21

Uploaded by

aymanal462
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Intro to Robotics, Handout –Lecture 21: “The Sweetest Lecture”

Name:

robot

1. Given the green disc-shaped robot, draw the Minkowski sum obstacle.
https://youtu.be/3qMNuoTHNHs (video)

2. For the following, what are the configuration spaces?


• https://youtu.be/nPGz0Nd3QzE 5 spheres:

• https://youtu.be/QsbcIgHRSMA: 12 RC robots

• https://youtu.be/dWqpz5zV5Is: 5 discs rolling

• https://youtu.be/ZEksDxLpAzg: fluid in a tank

• https://youtu.be/5t1BTPhLod8 sliding disks

• https://youtu.be/suKWvr66DeY: 100 particles

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[fill out in class]
Define a square:

To a classmate, explain the difference between a square and a rectangle.


(use the word subset)

Draw a sphere.
Add lines of latitude and longitude

Draw a torus. Draw lines, like latitude and longitude, that assign a tuple (θ,φ) to a
coordinate on the torus

What is the configuration space of a spherical manipulator?

Page 2 of 3
Intro to Robotics, Class Worksheet – Preparation for Lecture 22

1. Derive the equations needed to compute the shortest distance from a point p to the line
segment in the plane with vertices v1 and v2. Remember there are 3 cases!

2. Attach screenshots of paths for a random and a rectangular polygon from


demonstrations.wolfram.com/PathsInsideAPolygon/
Make sure to show paths that follow walls and that cross empty space

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