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PLANAR REVOLUTE–REVOLUTE (RR) ARM 201
b 6
b 7
a 7
a 3
a 6
a b 8
a 8 2 b 9
b 4 b
a 4 3 b
a 1 5
b
a 9 2
b
a 5 1
(a)
9
8
5
10 4
3
1
6
2
7
(b)
Figure 5.10 (a) W-space and (b) C-space with an obstacle whose virtual boundary in
C-space is formed by two nonintersecting closed curves. The curves’ ranges are C 1 =
2π, C 2 = 2π, making this another example of Type II cases shown in Figures 5.8d and
5.8e. Each point P i ,i = 1,..., 10, on the obstacle virtual boundary in C-space is defined
by the corresponding pair of points (a i ,b i ) in W-space.
