4-8 juil. 2016 Vancouver, British Columbia (Canada)

Par auteur > Bastidas Hanner

The configuration space of a robotic arm in a tunnel of width 2
Federico Ardila  1, 2  , Hanner Bastidas  3  , Cesar Ceballos  4  , John Guo  2  
1 : Universidad de los Andes [Bogota]  -  Site web
2 : Department of Mathematics [San Francisco=  -  Site web
San Francisco State University Thornton Hall 937 1600 Holloway Ave San Francisco, CA 94132 -  États-Unis
3 : Univesidad del Valle [Cali] Colombia  (Univalle)  -  Site web
Ciudad Universitaria MeléndezCalle 13 # 100-00Sede San FernandoCalle 4B # 36-00 -  Colombie
4 : Faculty of Mathematics [Vienna]  -  Site web
Oskar-Morgenstern-Platz 1, 1090 Wien -  Autriche

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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