Motion planning for planar binary robots in a reduced workspace

Binary robots have strengths including low-cost and robustness. They have a discrete workspace, and are well suited to applications that allow a tolerance for position. This article explores motion planning for planar binary robots so as to maintain a fixed end effector orientation. The discrete workspace is reduced when adopting the above condition. The smaller workspace still allows for dexterity and manipulability of the robot while reducing the computational burden of path planning. The approach is developed for planar variable geometry truss manipulators, which are introduced in detail. An actuation strategy is adopted in order to study motion between states. Methods to ensure the orientation is maintained throughout the motion are presented and illustrated.