Editing Configuration space (physics) (section)

==Examples==

===A particle in 3D space===
The position of a single particle moving in ordinary [[Euclidean space|Euclidean 3-space]] is defined by the vector <math>q=(x,y,z)</math>, and therefore its ''configuration space'' is <math>Q=\mathbb{R}^3</math>.  It is conventional to use the symbol <math>q</math> for a point in configuration space; this is the convention in both the [[Hamiltonian mechanics|Hamiltonian formulation of classical mechanics]], and in [[Lagrangian mechanics]]. The symbol <math>p</math> is used to denote momenta; the symbol <math>\dot{q}=dq/dt</math> refers to velocities.

A particle might be constrained to move on a specific [[manifold]]. For example, if the particle is attached to a rigid linkage, free to swing about the origin, it is effectively constrained to lie on a sphere. Its configuration space is the subset of coordinates in <math>\mathbb{R}^3</math> that define points on the sphere <math>S^2</math>. In this case, one says that the manifold <math>Q</math> is the sphere, ''i.e.'' <math>Q=S^2</math>.

For ''n'' disconnected, non-interacting point particles, the configuration space is <math>\mathbb{R}^{3n}</math>. In general, however, one is interested in the case where the particles interact: for example, they are specific locations in some assembly of gears, pulleys, rolling balls, ''etc.'' often constrained to move without slipping. In this case, the configuration space is not all of <math>\mathbb{R}^{3n}</math>, but the subspace (submanifold) of allowable positions that the points can take.

===Rigid body in 3D space===
The set of coordinates that define the position of a reference point and the orientation of a coordinate frame attached to a rigid body in three-dimensional space form its configuration space, often denoted <math>\mathbb{R}^{3}\times\mathrm{SO}(3)</math> where <math>\mathbb{R}^{3}</math> represents the coordinates of the origin of the frame attached to the body, and <math>\mathrm{SO}(3)</math> represents the rotation matrices that define the orientation of this frame relative to a ground frame.  A configuration of the rigid body is defined by six parameters, three from <math>\mathbb{R}^{3}</math> and three from <math>\mathrm{SO}(3)</math>, and is said to have six [[Degrees of freedom (mechanics)|degrees of freedom]].

In this case, the configuration space <math>Q=\mathbb{R}^{3}\times\mathrm{SO}(3)</math> is six-dimensional, and a point <math>q\in Q</math> is just a point in that space. The "location" of <math>q</math> in that configuration space is described using [[generalized coordinates]]; thus, three of the coordinates might describe the location of the center of mass of the rigid body, while three more might be the [[Euler angle]]s describing its orientation. There is no canonical choice of coordinates; one could also choose some tip or endpoint of the rigid body, instead of its center of mass; one might choose to use [[quaternion]]s instead of Euler angles, and so on. However, the parameterization does not change the mechanical characteristics of the system; all of the different parameterizations ultimately describe the same (six-dimensional) manifold, the same set of possible positions and orientations. 

Some parameterizations are easier to work with than others, and many important statements can be made by working in a coordinate-free fashion.  Examples of coordinate-free statements are that the [[tangent space]] <math>TQ</math> corresponds to the velocities of the points <math>q\in Q</math>, while the [[cotangent space]] <math>T^*Q</math> corresponds to momenta. (Velocities and momenta can be connected; for the most general, abstract case, this is done with the rather abstract notion of the [[tautological one-form]].)

===Robotic arm===
{{See also|Configuration space (mathematics)#Configuration spaces of mechanical linkages}}

For a robotic arm consisting of numerous rigid linkages, the configuration space consists of the location of each linkage (taken to be a rigid body, as in the section above), subject to the constraints of how the linkages are attached to each other, and their allowed range of motion. Thus, for <math>n</math> linkages, one might consider the total space
<math display="block">\left[\mathbb{R}^3\times \mathrm{SO}(3)\right]^n</math>
except that all of the various attachments and constraints mean that not every point in this space is reachable.  Thus, the configuration space <math>Q</math> is necessarily a subspace of the <math>n</math>-rigid-body configuration space. 

Note, however, that in robotics, the term ''configuration space'' can also refer to a further-reduced subset: the set of reachable positions by a robot's [[end-effector]].<ref>John J. Craig, ''Introduction to Robotics: Mechanics and Control'', 3rd Ed. Prentice-Hall, 2004</ref> This definition, however, leads to complexities described by the [[holonomy]]: that is, there may be several different ways of arranging a robot arm to obtain a particular end-effector location, and it is even possible to have the robot arm move while keeping the end effector stationary. Thus, a complete description of the arm, suitable for use in kinematics, requires the specification of ''all'' of the joint positions and angles, and not just some of them.

The joint parameters of the robot are used as generalized coordinates to define configurations.  The set of joint parameter values is called the ''joint space''.  A robot's [[forward kinematics|forward]] and [[inverse kinematics]] equations define [[Map (mathematics)|maps]] between configurations and end-effector positions, or between joint space and configuration space.  Robot [[motion planning]] uses this mapping to find a path in joint space that provides an achievable route in the configuration space of the end-effector.