On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings
Joint Authors
Ryuh, B. S.
Ünlütürk, Yasin
Dede, Mustafa
Ekici, Cumali
Source
Mathematical Problems in Engineering
Issue
Vol. 2008, Issue 2008 (31 Dec. 2008), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-03-11
Country of Publication
Egypt
No. of Pages
19
Main Subjects
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.
American Psychological Association (APA)
Ekici, Cumali& Ünlütürk, Yasin& Dede, Mustafa& Ryuh, B. S.. 2009. On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings. Mathematical Problems in Engineering،Vol. 2008, no. 2008, pp.1-19.
https://search.emarefa.net/detail/BIM-466015
Modern Language Association (MLA)
Ekici, Cumali…[et al.]. On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings. Mathematical Problems in Engineering No. 2008 (2008), pp.1-19.
https://search.emarefa.net/detail/BIM-466015
American Medical Association (AMA)
Ekici, Cumali& Ünlütürk, Yasin& Dede, Mustafa& Ryuh, B. S.. On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings. Mathematical Problems in Engineering. 2009. Vol. 2008, no. 2008, pp.1-19.
https://search.emarefa.net/detail/BIM-466015
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-466015