16-311 Introduction to Robotics

Homework 6
16-311 Introduction to Robotics
Fall-05 Prof. Howie Choset

For the following questions, simply hand in hard copies in class.

(75%) Group: Do Lab 5 .
(5%) Group (oral) In the labs, does the wave front planner produce the shortest path? What is shortest?
(25%) Individual:

1. We suggest that you print out the sample environment and draw your answer on the printout.
- Draw the Voronoi digagram for the following workspace.
- On a separate piece of paper, draw the Voronoi diagram for the configuration space of the same envrionment.
2. Given the following workspace (with robot shown at the start configuration) and configuration space for a two link manipulator with no joint limits:
- a. Plan the shortest path in configuration space from the start configuration to the goal configuration. Draw the path on the figure. Note: Theta 1 is the first joint angle, and Theta 2 is the second joint angle.
- b. Draw five intermediate configurations between the start and goal confi gurations along this path, and show their location in the configuration space, again along the path.