2018
DOI: 10.1142/s0219887818500482
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A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

Abstract: 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 differen… Show more

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Cited by 13 publications
(7 citation statements)
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“…When we look at the studies in the literature, we can see the curvature theory in robot trajectory motion. Some of these papers are [25][26][27][28][29][30].…”
Section: Introductionmentioning
confidence: 99%
“…When we look at the studies in the literature, we can see the curvature theory in robot trajectory motion. Some of these papers are [25][26][27][28][29][30].…”
Section: Introductionmentioning
confidence: 99%
“…The ruled surfaces are used in robotics, architecture, mechanics, and other areas. These surfaces are studied in many spaces such as Euclidean, Lorenzian, Galilean, and pseudo‐Galilean spaces 4–8,10,50–64 …”
Section: Introductionmentioning
confidence: 99%
“…These surfaces are studied in many spaces such as Euclidean, Lorenzian, Galilean, and pseudo-Galilean spaces. [4][5][6][7][8]10,[50][51][52][53][54][55][56][57][58][59][60][61][62][63][64] In this paper, the dual Bézier curves have been discussed. When a dual Bézier curve is given, the corresponding dual unit spherical projection curve and its corresponding ruled surface can be discussed.…”
mentioning
confidence: 99%
“…Soccer robot path planning is an important issue for robot intelligent obstacle avoidance, and it is an important manifestation of robot intelligence (Drake et al 2018). Path planning has always been an important research area of robotics, and it is the basis for improving the robot's athletic ability and making robots work safely and efficiently for humans (Güler and Kasap 2018). Path planning and real-time obstacle avoidance in static and dynamic environments is a very important problem in solving robot applications.…”
Section: Introductionmentioning
confidence: 99%