A Dual Method to Study Motion of A Robot End-Effector

Authors

  • Burak Åžahiner Department of Mathematics, Manisa Celal Bayar University, Manisa
  • Mustafa Kazaz Department of Mathematics, Manisa Celal Bayar University, Manisa
  • Hasan Hüseyin Uğurlu Department of Mathematics Teaching, Gazi University, Ankara

DOI:

https://doi.org/10.26713/jims.v10i1-2.679

Keywords:

Curvature theory, Dual Darboux frame, Dual tool frame, Robot end-effector, Robot trajectory planning, Ruled surface

Abstract

This paper presents a dual method to study motion of a robot end-effector by using the curvature theory of a dual curve which corresponds to a ruled surface generated by a line fixed in the end-effector. By using dual method, translational and angular differential properties of motion such as velocity and acceleration are determined without redundant parameters. These properties are important information in robot trajectory planning. As a practical example, motion of a robot end-effector in which a line fixed in the end-effector generates a surface of hyperbolic paraboloid is investigated.

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References

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Published

2018-08-10
CITATION

How to Cite

Åžahiner, B., Kazaz, M., & Uğurlu, H. H. (2018). A Dual Method to Study Motion of A Robot End-Effector. Journal of Informatics and Mathematical Sciences, 10(1-2), 247–259. https://doi.org/10.26713/jims.v10i1-2.679

Issue

Vol. 10 No. 1-2 (2018)

Section

Research Articles

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