Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
The Cartesian Configuration Space Method uses a check for which particular points in space are free, and then chooses a free path through. This is not very useful when expanding to a multilink manipulator. Thus an approach has been formulated to determine which points in joint space are collision free. This method was formulated by W.E. Red and Hung-Viet Truong-Cao [1985]. This method was applied to manipulators with two revolute joints, and to a robot with one revolute and one prismatic joint. This method works best with two joints, and expansion to three joints requires more computation time. Thus this solution is ideal when the robot is operating in a 2D planar configuration. The effect is a setup time of 2 to 5 minutes, and then 15 seconds for any solution after the initial setup.
Figure C.3 Joint Configuration Space for two Revolute Joints
This technique has some definite advantages in the speed of solution. Resolution errors occur due to the resolution of the configuration space map. This table can only be used for the motion of two joints, the third increases the complexity exponentially, but it is still ideal for some batch processing applications.