Configuration space visualization for mechanical design
Proceedings of the conference on Visualization '98
Robot Motion Planning
Computer-Aided Mechanical Design Using Configuration Spaces
Computing in Science and Engineering
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
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We describe configuration space visualization methods for mechanical design. Configuration spaces are geometric representations of mechanical function that encode quantitative information, such as part motions, and qualitative information, such as system failure modes. Visualization tools help designers elucidate the qualitative information, which appears as geometric properties of the configuration space. The research challenge is to relate the configuration space geometry to the mechanical function of the parts. This is difficult because configuration space is a foreign language to designers and because its geometry is complex and nonlinear. We demonstrate the efficacy of our methods on two small but realistic design examples.