Burak ŞAHİNER, Hasan Hüseyin UĞURLU, Mustafa KAZAZ

Dual Lorentziyen Birim Küresel Timelike Eğrilerin Eğrilik Teorisi Kullanılarak Robot Uç-işlevci Hareketinin İncelenmesi

Bu çalışmada, Lorentziyen uzayda hareket eden bir robot uç-işlevcinin hareketi, robot uç-işlevciyesabitlenmiş bir doğru tarafından oluşturulan spacelike regle yüzeye dual uzayda karşılık gelendualLorentziyen birim küresel timelike eğrilerin eğrilik teorisi kullanılarak incelenmiştir. Bu inceleme ilerobot yörünge planlamasında önemli rol oynayan robot uç-işlevcinin zamana bağlı lineer ve açısal hızıile lineer ve açısal ivmesi belirlenmiştir.

Examining Motion of a Robot End-effector Using CurvatureTheory of Dual LorentzianUnitSphericalTimelikeCurves

Inthispaper, motion of a robot end-effectorwhichmoves in Lorentzianspace is examinedusingthecurvaturetheory of dualLorentzianunitsphericaltimelikecurveswhichcorrespondsto a spacelikeruledsurfacegeneratedby a linefixed in the robot end-effector. Inthisway, time dependentlinearandangularvelocitiesandaccelerationswhichplayimportantroles in robot trajectoryplanning.

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