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- Title
A Dual Method to Study Motion of A Robot End-Effector.
- Authors
Şahiner, Burak; Kazaz, Mustafa; Uğurlu, Hasan Hüseyin
- 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.
- Subjects
CURVATURE; HYPERBOLIC paraboloid structures; END effector design &; construction
- Publication
Journal of Informatics & Mathematical Sciences, 2018, Vol 10, Issue 1/2, p247
- ISSN
0974-875X
- Publication type
Article
- DOI
10.26713/jims.v10i1-2.679