A Study on Motion of a Robot End-Effector Using the Curvature Theory of Dual Unit Hyperbolic Spherical Curves

被引：1
|
作者：
Sahiner, Burak [1 ]
Kazaz, Mustafa [1 ]
Ugurlu, Hasan Huseyin [2 ]
机构：
[1] Celal Bayar Univ, Fac Arts & Sci, Dept Math, Manisa, Turkey
[2] Gazi Univ, Dept Secondary Educ Sci & Math Teaching, Math Teaching Program, Fac Educ, Ankara, Turkey
来源：
FILOMAT | 2016年 / 30卷 / 03期
关键词：
Curvature theory; dual Darboux frame; dual tool frame; dual velocity vector; robot end-effector; ruled surface; trajectory planning;
D O I：
10.2298/FIL1603791S
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
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.
引用
收藏
页码：791 / 802
页数：12
相关论文
共 50 条
  • [1] ACCURATE MOTION OF A ROBOT END-EFFECTOR USING THE CURVATURE THEORY OF RULED SURFACES
    RYUH, BS
    PENNOCK, GR
    [J]. JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1988, 110 (04): : 383 - 388
  • [2] On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings
    Ekici, Cumali
    Unluturk, Yasin
    Dede, Mustafa
    Ryuh, B. S.
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2008, 2008
  • [3] On Motion of Robot End-Effector using the Curvature Theory of Timelike Ruled Surfaces with Timelike Directrix
    Dede, Mustafa
    Ekici, Cumali
    Unluturk, Yasin
    [J]. MALAYSIAN JOURNAL OF MATHEMATICAL SCIENCES, 2014, 8 (02): : 189 - 204
  • [4] A Self-Calibration Method for Robot End-Effector Using Spherical Constraints
    Wang, Xiong
    Ren, Wenze
    Wang, Kang
    Liu, Jun
    Lin, Jinsong
    Feng, Jiahui
    Zheng, Jun
    Li, Fei
    [J]. Applied Sciences (Switzerland), 2024, 14 (21):
  • [5] A path planning method for robot end effector motion using the curvature theory of the ruled surfaces
    Guler, Fatma
    Kasap, Emin
    [J]. INTERNATIONAL JOURNAL OF GEOMETRIC METHODS IN MODERN PHYSICS, 2018, 15 (03)
  • [6] Design of the Force Sense Unit for Space Robot End-effector
    Zhang, Qingli
    Zhu, Yingyuan
    Ni, Fenglei
    Wang, Yongbin
    Liu, Hong
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 1727 - +
  • [7] A multi-sensory end-effector for spherical fruit harvesting robot
    Liu, Jizhan
    Li, Pingping
    Li, Zhiguo
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6, 2007, : 258 - 262
  • [8] Geometric Description and Analysis Method for Motion Characteristics of Robot End-effector
    Ye, Meiyan
    Shi, Zhixin
    Luo, Yufeng
    [J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2019, 50 (03): : 388 - 395
  • [9] Set-point control of robot end-effector pose using dual quaternion feedback
    Pham, H. L.
    Adorno, B., V
    Perdereau, V
    Fraisse, P.
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 52 : 100 - 110
  • [10] The Adjoint Trajectory of Robot end Effector using the Curvature Theory of Ruled Surface
    Guler, Fatma
    [J]. FILOMAT, 2020, 34 (12) : 4061 - 4069
12345