A study on motion of a robot end-effector using the curvature theory of dual unit hyperbolic spherical curves

Burak Sahiner, Mustafa Kazaz, Hasan Ugurlu
2016 Filomat  
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
more » ... a robot end-effector which moves on the surface of a right circular hyperboloid of one sheet is examined as a practical example.
doi:10.2298/fil1603791s fatcat:lphhfvykl5dgdozz2a7q4kitwq