Rapid computation of configuration space obstacles

Abstract

Mathematical properties of configuration space are presented, and algorithms invoking those properties for efficient computation of obstacles in configuration space are described. Simple elements in Cartesian space which can be transformed into configuration space rapidly are identified. Transformations of complex workspace shapes into configuration space are described in terms of multiple transformations of such simpler primitives. Computational considerations and examples are presented for the first three degrees of freedom of an industrial robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>