A configuration space is a mathematical concept used to describe all possible states or arrangements of a system. In physics and robotics, it represents the set of all possible positions and orientations of an object or a group of objects. Each point in this space corresponds to a unique configuration, allowing for analysis of movement and interactions. In simpler terms, think of a configuration space as a map that shows where an object can go. For example, the configuration space of a robot with joints can illustrate all the different poses it can take. This helps in planning movements and understanding how systems behave in various scenarios.