A Study on Motion of a Robot End-Effector Using the Curvature Theory of Dual Unit Hyperbolic Spherical Curves
FILOMAT, cilt.30, sa.3, ss.791-802, 2016 (SCI-Expanded, Scopus)
- 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
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Gazi 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.