A Study on the Dual Curvature Theory of a Ruled Surface for the Precision Control of a Robot Trajectory

B.-S. Ryuh, K.-M. Lee, and M.-J. Moon (Korea)


Robot, Trajectory Planning, Dual Curvature Theory


This paper presents a precision control method of a robot path generation based on the dual curvature theory of a ruled surface. Robot path can be represented as a ruled surface generated by the Tool Center Point and a unit vector among the tool frame. Dual curvature theory of a ruled surface provides the precision robot control algorithm. The differential properties of the ruled surface generate the linear and angular motion properties of the robot end effector for precision robot path planning.

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