Instabilities of Robot Motion

Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities, which are unavoidable in any motion planning algorithm. More specifically, let X denote the space of all admissible configurations of a mechanical system. A motion planner is given by a splitting X

• Type: Journal
• Year: 2002
• Where: CORR
• Authors: Michael Farber
• Keywords: Configuration Space, CORR 2002, Education, Motion Planners, Robot Motion