宽度为2的隧道中机械臂的位形空间

IF 0.7 4区数学

Discrete Mathematics and Theoretical Computer Science Pub Date : 2016-07-04 DOI:10.46298/dmtcs.6402

F. Ardila, Hanner Bastidas, Cesar Ceballos, John Guo

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引用次数: 8

摘要

我们研究机械臂在宽度为2的矩形隧道内的运动。证明了机器人所有可能位置的位形空间S是一个CAT(0)立方复形。在这项工作之前，很少有机器人家族已知具有CAT(0)位形空间。这个特性使我们可以将手臂从一个位置移动到另一个位置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The configuration space of a robotic arm in a tunnel of width 2

International audience We study the motion of a robotic arm inside a rectangular tunnel of width 2. We prove that the configuration space S of all possible positions of the robot is a CAT(0) cubical complex. Before this work, very few families of robots were known to have CAT(0) configuration spaces. This property allows us to move the arm optimally from one position to another.

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来源期刊

Discrete Mathematics and Theoretical Computer Science 数学-计算机：软件工程

自引率

14.30%

发文量

期刊介绍： DMTCS is a open access scientic journal that is online since 1998. We are member of the Free Journal Network. Sections of DMTCS Analysis of Algorithms Automata, Logic and Semantics Combinatorics Discrete Algorithms Distributed Computing and Networking Graph Theory.