A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

Güler F., Kasap E.

INTERNATIONAL JOURNAL OF GEOMETRIC METHODS IN MODERN PHYSICS, cilt.15, sa.3, 2018 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 15 Sayı: 3
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1142/s0219887818500482
  • Dergi Adı: INTERNATIONAL JOURNAL OF GEOMETRIC METHODS IN MODERN PHYSICS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Anahtar Kelimeler: Ruled surface, striction curve, Darboux vector, robot end effector motion, robot trajectory planning
  • Ondokuz Mayıs Üniversitesi Adresli: Evet

Özet

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.