Applications

Created Samstag 27 Juli 2024

Robotics

An articulated robotic manipulator can be viewed as a chain of links. E.g. the exact position or configuration of a robot arm with four joints may be specified as a point in a 4D configuration space.

The number of axes along which each joint can rotate are the degrees of freedom of the robot arm. One challenge in Robotics is the complexity of the configuration-space approach for robots with a large number of degrees of freedom.

Another concern of robot designers is inverse kinematics or "reachability": Given a desired tool position, compute joint angles which achieve that position.