Fig. 13

Reach cognitive core samples for a combined system of 3-DOF arm and mobile base. The red lines visualize the end effector motion of the arm of the combined system, thus including the motion of the mobile base. The target location is marked by the red ball at (x,y,z)=(1.3,−0.1,0.5) m, which is out of range of the arm alone, would the mobile base not move as well. The arm has a length of ≈ 0.4 m. Note that the directness constraint only applies to the end effector motion, which is the end effector of the arm for this combined system, and not the task space motion of the base. For comparison, samples from an unconstrained reach cognitive core are plotted in green. As expected, samples from this unconstrained core reach the target location more indirectly