룰드서피스 듀얼곡률이론을 이용한 로봇경로계획

A Robot Trajectory Planning based on the Dual Curvature Theory of a Ruled Surface

This paper presents a robot trajectory generation method based on the dual curvature theory of ruled surfaces. Robot trajectory can be represented as a ruled surface generated by the TCP(Tool Center Point) and my unit vector among the tool frame. Dual curvature theory of ruled surfaces provides the robot control algorithm with the motion property parameters. With the differential properties of the ruled surface, the linear and angular motion properties of the robot end effector can be utilized in the robot trajectory planning.