I am working on the distance between a robot (defined by its joints angles) and its configuration space. I want to defined a simple distance to be able to get in which configuration the robot is too close from the environment, and a distance based on joints angles.
I'm working in 6 dimensions (with a 6 DOF robot).
If we fix the last 3 joints of a 6DOF robot, to become a 3 DOF robot, I can used euclidean distance because we can defining most of the angles configuration only with the 3 first joints. But if I take all of the 6 angles, the distance is wrong : the value is too big and I don't know how to define if the robot is under collision or not.
The last 3 joints do not defined the position of the robot but only the TCP but I need them to be sure that the end effector do not touch the envrionement.
I hope my explanations are understanable,
Do you have any clue ?
Thank you in advance