A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

Güler, Fatma; Kasap, Emi̇n

doi:10.1142/s0219887818500482

Cited by 13 publications

(8 citation statements)

References 8 publications

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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%

Surface family interpolating a common spherical indicatrix curve

Bayram¹,

Güler²,

KASAP³

2023

Preprint

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The trajectory of a moving particle in space forms a curve. By moving a line along a curve, a surface called ruled surface is obtained. The striction point on a ruled surface is the foot of the common normal between two consecutive generators or ruling. The set of striction points defines the striction curve. In the present paper, we obtain surfaces passing through the spherical indicatrix curves formed on the unit sphere by the end points of the geodesic Frenet frame formed on this curve. We present conditions for these curves to be asymptotic curves or geodesic on the surface. We illustrate the method with several examples.

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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%

Surface family interpolating a common spherical indicatrix curve

Bayram¹,

Güler²,

KASAP³

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…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.…”

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confidence: 99%

The new characterization of ruled surfaces corresponding dual Bézier curves

İncesu

2021

Math Methods in App Sciences

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Let be a Bézier curve in D3, that is, the control points of are the vectors in D3 = {u = (u1, u2, u3) : ui ∈ D,i = 1,2,3} which is the set of dual vectors whose each coordinate components are dual numbers defined as a+εa* : a,a* ∈ R,ε ≠ 0; ε2 = 0. So the spherical projection of is a spherical curve denoted by on the unit sphere in D3 and every point of corresponds to a directed line in real space R3 by Study transformation. In this study, the ruled surface X(t, ν) corresponding to this projection curve of dual Bézier curve is stated in terms of the parametric equation of the real and dual part of a given dual Bézier curve . Also, in this study, some fundamental characteristics such as the striction curve, the Gaussian curvature, and the distribution parameter of the ruled surface X(t, ν) corresponding to this projection curve of the dual Bézier curve are investigated. These concepts at any point are stated in terms of the control points of the given dual Bézier curve .

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“…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%

Motion path planning of soccer training auxiliary robot based on genetic algorithm in fixed-point rotation environment

Ding

2020

J Ambient Intell Human Comput

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Soccer training assisted robot system is a combination of robotics and artificial intelligence. Motion path planning is an important part of soccer training assisted robot decision system. Path planning aims to find an optimal path, complete dynamic and static obstacle avoidance, and thus can timely and quickly carry out the path planning of the soccer training assisted robot cooperation strategy. Aiming at the problem of soccer training auxiliary robot motion path planning, this paper proposes a global path planning method based on genetic algorithm, which avoids the problem of unsmooth path and large computation. Under the premise of ensuring the completeness of search, this method transforms the soccer training assisted robot path planning problem into the path search problem of the soccer training assisted robot system center. Under the premise of using the fixed-point rotation method on a large scale, the genetic algorithm is adopted for the case of some special narrow-channel environments, and the action area is determined by simple search. Finally, the planning path of each soccer training-assisted robot in the system is obtained. Finally, the simulation results verify the effectiveness of the algorithm.

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A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

Cited by 13 publications

References 8 publications

Surface family interpolating a common spherical indicatrix curve

Surface family interpolating a common spherical indicatrix curve

The new characterization of ruled surfaces corresponding dual Bézier curves

Motion path planning of soccer training auxiliary robot based on genetic algorithm in fixed-point rotation environment

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