On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings

Abstract EN

The trajectory of a robot end-effector is described by a ruled surface and a spin angle about the ruling of the ruled surface.

In this way, the differential properties of motion of the end-effector are obtained from the well-known curvature theory of a ruled surface.

The curvature theory of a ruled surface generated by a line fixed in the end-effector referred to as the tool line is used for more accurate motion of a robot end-effector.

In the present paper, we first defined tool trihedron in which tool line is contained for timelike ruled surface with timelike ruling, and transition relations among surface trihedron: tool trihedron, generator trihedron, natural trihedron, and Darboux vectors for each trihedron, were found.

Then differential properties of robot end-effector's motion were obtained by using the curvature theory of timelike ruled surfaces with timelike ruling.