A Study on Motion of a Robot End-Effector Using the Curvature Theory of Dual Unit Hyperbolic Spherical Curves
| dc.contributor.author | Sahiner, B | |
| dc.contributor.author | Kazaz, M | |
| dc.contributor.author | Ugurlu, HH | |
| dc.date.accessioned | 2025-04-10T10:32:12Z | |
| dc.date.available | 2025-04-10T10:32:12Z | |
| dc.description.abstract | 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. | |
| dc.identifier.issn | 0354-5180 | |
| dc.identifier.uri | http://hdl.handle.net/20.500.14701/38603 | |
| dc.language.iso | English | |
| dc.title | A Study on Motion of a Robot End-Effector Using the Curvature Theory of Dual Unit Hyperbolic Spherical Curves | |
| dc.type | Article; Proceedings Paper |