Robotic Arm Domain

How do you search on a simple 2-arm robotic arm

This problem is very similar to grid search, where there are two dimensions (the relative angles of the two arms). But, target locations are not coordinates in this space - they are coordinates that correspond to an arm position.

The left side shows the work space - the position of the robot arm.

The right side shows the configuration space - the obstacles and free space represented according to the angles of the arm.

Instructions

1. You can draw new obstacles in the world and see the configuration space updated.
2. You can set a target and watch the A* search move to the target location.
3. You can manually move the arm.
4. You can clear the last obstacle drawn.

Input mode:

Obstacles:

Finding Paths:

Moving arm:

Research Citations