A Review of Topological Perspectives in Robotic Manipulation.
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Topology is an important area of study in mathematics, which is mainly concerned with qualitative properties of topological spaces. It is broad and well developed. Current research interests are to explore the possibilities to integrate topological perspectives in various practical engineering problems. Robotics contains many challenging tasks and provides an ideal playground for topological tools. In this thesis, we select several topics of interdisciplinary research from topology and robotic manipulation and summarize some interesting topological insights and approaches. In the introductory chapter, several selected aspects of topological perspectives in robotics are briefly reviewed. In the second chapter, we give a detailed account of widely used topological modeling methods that are used for robotic manipulation, revealing the common ground that involves topology. In the third chapter, topological considerations about configuration spaces and topological reasoning on problems such as finding global inverse kinematic solutions or dealing with singularities are presented. In the fourth chapter, we concentrate on topological properties of kinematic maps of redundant manipulators and discuss methods that potentially enable an efficient exploration of redundancy resolution. Finally, we mention some open problems for future research.
Place, publisher, year, edition, pages
Trita-CSC-E, ISSN 1653-5715 ; 2012:018
IdentifiersURN: urn:nbn:se:kth:diva-130978OAI: oai:DiVA.org:kth-130978DiVA: diva2:654424
Master of Science - Software Engineering of Distributed Systems