A path planning method for robot end effector motion using the curvature theory of the ruled surfaces
| Autor: | Emin Kasap, Fatma Güler |
|---|---|
| Přispěvatelé: | Ondokuz Mayıs Üniversitesi |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Physics and Astronomy (miscellaneous) Angular velocity 02 engineering and technology Curvature Topology 01 natural sciences robot end effector motion law.invention Computer Science::Robotics striction curve 020901 industrial engineering & automation robot trajectory planning law 0103 physical sciences Motion planning Mathematics ComputingMethodologies_COMPUTERGRAPHICS Ruled surface 010308 nuclear & particles physics Robot end effector Darboux vector Trajectory Robot |
| Popis: | WOS: 000425668500016 Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot's next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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