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arXiv · 2211.11811

A minimum swept-volume metric structure for configuration space

Yann de Mont-Marin·Jean Ponce·Jean-Paul Laumond
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Abstract

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot manipulators, and we demonstrate as a proof of concept the computation of geodesic paths for a free flying rod and planar robotic arms as well as their use in path planning with many obstacles.

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Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond. 2022-11-21. A minimum swept-volume metric structure for configuration space. https://arxiv.org/abs/2211.11811

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