The Adjoint Trajectory of Robot End Effector Using the Curvature Theory of Ruled Surface

Abstract

The ruled surface is formed by the movement of a director based on a curve. The point P not on the director vector at fixed frame o-ijk draws a curve. However, each position of this point on the curve always corresponds to position of director on the ruled surface, or this point is adjoint to director vector. Thus, the curve is adjoint to the ruled surface. In this study, we expressed the adjoint trajectory of robot end effector. We can change the trajectory of the robot movement by defining the adjoint trajectory when it may not be physically achievable and not re-computation of the robot trajectory. We investigated the angular acceleration and angular velocity of adjoint trajectory of the robot end effector. Also, we obtained the condition that moving point is a fixed point.