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Under what conditions will CSO boundaries present manifolds We will show below that if a certain unrestrictive spatial relationship between the robot and obstacle is satis ed for example, under no condition is the robot immobilized, nor does it need to squeeze between two obstacles as in Figure 533 then FCS is uniformly locally connected (ULC) Although the ULC property is not suf cient to ensure manifold boundaries for the general case, we will show that for the two-dimensional (2D) case the ULC property guarantees that FCS is bounded by manifolds in this case, simple closed curves We proceed as follows First, a general robot with d translational and/or revolute degrees of freedom will be de ned CS is de ned as a Euclidean space formed by the robot parameter variables A physical obstacle is the interior of a connected compact point set in WS. code 39 excel formula Code 39 | dafont.com
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