Distance Norms in Robot Workspace and Phase Space

norm space

workspace

phase space

norm type

1

2

3

∞

d

1

2

r

1

1

θ

1

θ

2

This Demonstration shows the area within the distance

d

of a two-link planar-arm robot with configuration

(

θ

1

,

θ

2

)

. The distance

d

is measured in the

L

1

,

L

2

,

L

3

or

L

∞

norm, with the norm applied either in the workspace or the phase space of the robot. You can change the norm type, the length of the first arm joint and the angles of the two arm joints.