• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.482-487
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• 2002

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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.182-189
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• 2000

This paper presents the real time control method of 5-axis NC machine for high precision and productivity based on the curvature theory, of a ruled surface. The trajectory, of NC machine is described by, way of a ruled surface generated by the points on part surface and tool axis direction vector. The curvature theory, of a ruled surface is then applied to deter-mine the motion parameters of the 5-axis machine for control. The controller computes position, orientation, and differential motion parameters of the tool in each sampling period. The real-time approach produces smoother surfaces and requires substantially less machining time compared to conventional off-line approaches. The propose real-time control method based of the curvature theory of a ruled surface may give new methodology of precision 5-axis machine control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.683-691
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• 1997

This paper presents a new robot trajectory generation method based on the curvatre theory of ruled surfacees. robot trajectory is represented as a ruled surface generated by the TCP (Tool center point ) and any one unit vector among the tool frame (usually denoted O, A,N). The curvature theory of ruled surfaces provides the robot control algorithm with the motion property oarameters. The proposed method eliminates the necessity of approximation technic of either joint or cartesian interpolation. This technic may give new methodology of precision robot control. Especially this is very efficient when the robot traces an analytical or form surface if the surface is geometrically modelled.