Book Chapter: Chapter 2

Configuration Space

Chapter 2 Autoplay

Autoplay of the YouTube playlist for all videos in this chapter.  This description box will not be updated with information about each video as the videos advance.

2.1. Degrees of Freedom of a Rigid Body

This video introduces the concepts of configuration, configuration space (C-space), and degrees of freedom, and describes a method for counting the degrees of freedom of a rigid-body in n dimensions.

2.3.2. Configuration Space Representation

This video introduces representations of manifolds using minimum-coordinate explicit parametrizations and implicit representations, where the manifold is viewed as a surface embedded in a higher-dimensional space.

2.5. Task Space and Workspace

This video introduces the task space, the space in which the robot’s task can most naturally be expressed, and the workspace, a characterization of the reachable configurations of the end-effector.