Geometric Kinematic Approach to Rigid Objects with Point Contact Based on A Local-Surface Frame

Vahide Bulut

doi:https://doi.org/10.16984/saufenbilder.400272

Makale detayları

Geometric Kinematic Approach to Rigid Objects with Point Contact Based on A Local-Surface Frame

Yazarlar:

Vahide Bulut

Ana Başlıklar:

Matematik

Dergi:

Sakarya University Journal of Science 2018 Vol.22 Issue 6, pp.1787-1792

Belge Tipi:

Makale

Yayın Tarihi:

11/2018

Belge Dili:

İngilizce

Document ID (Org No.):

2000557478

DOI:

https://doi.org/10.16984/saufenbilder.400272

Özet:

 


Controlling the relative motion between two contacting
rigid bodies is necessary when manipulation and locomotion tasks are
encountered in robotics. In this paper, we express the kinematics of
spin-rolling motion of rigid objects with point contact based on the
local-surface frame method. We give the relationship between the Darboux frame
and local-surface frame, and also between the Frenet-Serret frame and local-surface
frame. Additionally, we obtain velocity of the moving object according to the
local-surface frame curvatures of the respective contact curve and geometric
invariants. We can have proper information about trajectory planning if we take
the formulations of moving object into consideration according to the
local-surface frame.


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Makale detayları

Geometric Kinematic Approach to Rigid Objects with Point Contact Based on A Local-Surface Frame

Yazarlar: Vahide Bulut

Ana Başlıklar: Matematik

Dergi: Sakarya University Journal of Science 2018 Vol.22 Issue 6, pp.1787-1792

Belge Tipi: Makale

Yayın Tarihi: 11/2018

Belge Dili: İngilizce

Document ID (Org No.): 2000557478

DOI: https://doi.org/10.16984/saufenbilder.400272

Sayı

Yazarlar:

Vahide Bulut

Ana Başlıklar:

Matematik

Dergi:

Sakarya University Journal of Science 2018 Vol.22 Issue 6, pp.1787-1792

Belge Tipi:

Makale

Yayın Tarihi:

11/2018

Belge Dili:

İngilizce

Document ID (Org No.):

2000557478

DOI:

https://doi.org/10.16984/saufenbilder.400272