Determination of trajectory in a 5R-1P manipulator using regular space curves

KOPMAZ O., Ozcan R., PALA Y.

Proceedings of the 1992 Engineering Systems Design and Analysis Conference, İstanbul, Turkey, 29 June - 03 July 1992, vol.47, pp.173-179 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 47
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.173-179
  • Bursa Uludag University Affiliated: Yes


In this study, by taking the system of six degrees of freedom into account, the verification of a transport problem with minimum energy, of which initial and terminal points are given, is investigated and how this problem can be solved by means of the family of regular space curves is shown. Two examples explaining the method are also given.