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Ws 20 Introrobots

Robotics 20

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9 views3 pages

Ws 20 Introrobots

Robotics 20

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, Class Worksheet Lecture 20

Name:

Configuration

Configuration space

Workspace:

Obstacle in workspace Robot

Area occupied by robot at configuration 𝑞

Configuration space obstacle: 𝒬𝒪 =


in which 𝒪 =

Free configuration space:

Rigid body that translates in plane:

Obstacles for 2-link robot arm

Curse of dimensionality

Page 1 of 3
Intro to Robotics, Class Worksheet – Preparation for Lecture 21

Describe the configuration space for the robots below:


1. Robot that can translate and rotate in the plane

2.

03_24

3.

03_23

4.

03_25

5.

6.
7. at http://demonstrations.wolfram.com/RobotMotionWithObstacles/, attach screenshot
of the narrowest corridor you can make that the robot can get out of. Also attach a
screenshot where the robot is trapped.

Page 2 of 3
Intro to Robotics, Feedback
1. What is working about the WS handouts?

2. What isn’t working about the WS handouts?

3. What is working about the lectures?

4. What isn’t working about the lectures?

5. What is working about the robot demos?

6. What isn’t working about the robot demos?

7. What is working about the homeworks?

8. What isn’t working about the homeworks?

9. What is working about the final project?

10. What isn’t working about the final project?

11. What worked in the exam?

12. What didn’t work in the exam?

Page 3 of 3

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