Browsing by Author "Sahiner B."

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    A study on motion of a robot end-effector using the curvature theory of dual unit hyperbolic spherical curves
    (University of Nis, 2016) Sahiner B.; Kazaz M.; Ugurlu H.H.
    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 end-effector which moves on the surface of a right circular hyperboloid of one sheet is examined as a practical example. © 2016, University of Nis. All rights reserved.