Robot Motion with Obstacles

Q

2

This Demonstration shows a two-link planar arm robot operating in the workspace on the left, containing two small circular obstacles. The corresponding robot phase space on the right shows the configurations

q=(

θ

1

,

θ

2

)

for which an arm intersects an obstacle. You can relocate an obstacle in the workspace and see the corresponding change in phase space. Move the locator in phase space vertically or horizontally to rotate the robot arms. The angles

θ

1

and

θ

2

are expressed modulo

2π

. The obstacle regions are computed using

32Q

unit squares. You can improve the quality of the computation by increasing

Q

.