The set of all possible configurations of a two-link, planar-arm robot can be represented in a two-dimensional

*phase space*. Of particular interest are the configurations in which the robot collides with one of the obstacles. A resolution-complete planner returns a path between the initial and final configuration if it exists or returns that such a path is impossible. The path is discovered using breadth-first search in the phase space, which calculates the distance to every configuration reachable from the initial configuration. In this Demonstration, path distance is shown by a gradient that darkens with distance from the initial configuration. Even if configurations are close in the configuration space, obstacles may make moving between them require a longer distance.

This Demonstration computes the obstacle regions using

unit squares and determines if the centroid of each square is in a collision. Given

and

, one collision computation is trivial.

However, computing the phase-space obstacle region is more difficult because the size of the space representation grows exponentially with the number of degrees of freedom (independent joints) of the robot.

Consider how many

-dimensional unit squares are required to fill a space of size

. For a one-dimensional space,

units are needed. For a two-dimensional space,

squares are needed. For an

-dimensional space,

hypercubes would be required. The number of collision computations grows exponentially with the number of joints in the robot, making breadth-first search computationally infeasible for robots with many joints.

The phase space for a two-link, planar robot can be represented on a torus. When rotation joint 1 moves past

, it returns to angle 0. This is represented by dashed and solid lines of the same color. If the phase space were printed on a rubber sheet and cut out and the dashed and solid lines of each color were joined, the resulting shape would be a torus. In this Demonstration, moving the locator past the edge of the phase space wraps the angle around

.

[1] M. Spong, S. Hutchinson and M. Vidyasagar,

*Robot Modeling and Control*, Hoboken, NJ: John Wiley & Sons, 2006.