Exercise 25.3 [AB-manipulator-ex]

Consider a robot with two simple manipulators, as shown in figure figRobot2. Manipulator A is a square block of side 2 which can slide back and on a rod that runs along the x-axis from x=$-$10 to x=10. Manipulator B is a square block of side 2 which can slide back and on a rod that runs along the y-axis from y=-10 to y=10. The rods lie outside the plane of manipulation, so the rods do not interfere with the movement of the blocks. A configuration is then a pair ${\langle}x,y{\rangle}$ where $x$ is the x-coordinate of the center of manipulator A and where $y$ is the y-coordinate of the center of manipulator B. Draw the configuration space for this robot, indicating the permitted and excluded zones.