A study on motion of a robot end-effector using the curvature theory of dual unit hyperbolic spherical curves

ŞAHİNER B., KAZAZ M., UĞURLU H. H.

Filomat, cilt.30, sa.3, ss.791-802, 2016 (SCI-Expanded) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 30 Sayı: 3
  • Basım Tarihi: 2016
  • Doi Numarası: 10.2298/fil1603791s
  • Dergi Adı: Filomat
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.791-802
  • Anahtar Kelimeler: Curvature theory, Dual Darboux frame, Dual tool frame, Dual velocity vector, Robot end-effector, Ruled surface, Trajectory planning
  • Manisa Celal Bayar Üniversitesi Adresli: Evet

Özet

In this paper we study the motion of a robot end-effector by using the curvature theory of a dual unit hyperbolic spherical curve which corresponds to a timelike ruled surface with timelike ruling generated by a line fixed in the end-effector. In this way, the linear and angular differential properties of the motion of a robot end-effector such as velocities and accelerations which are important information in robot trajectory planning are determined. Moreover, the motion of a robot end-effector which moves on the surface of a right circular hyperboloid of one sheet is examined as a practical example.