| Motion Planning |
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| l | Workspace:
coordinates characterize the |
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| full state of the
robot. (x, y, z, …) |
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| l | Configuration
space: coordinates |
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| characterize the
configuration of the |
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| robot’s joints.
(rotational angles etc.) |
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| l | Free space: all
configurations that the |
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| robot is allowed
to reach. |
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