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Geometric Modelling of Polar and Other Non-Parametric Curves and Surfaces

Authors: [tex2html_wrap4270]P. Zsombor-Murray, Y. Liu

Investigator username: paul

Category: robotics

Subcategory: manipulators and actuators

Intersection trajectories between conical, cylindrical and spherical surfaces are derived with elementary linear algebra. All configurations except parallel axis of cylinders are considered. Analysis of curve limiting geometry and practical robotic applications have been investigated. These include torch tip and axis pose computation in cutting and welding and collision avoidance among mechanism components and surrounding objects. Efficient computation of trace and tangent plane bisector between arbritrary cyclids and hyperboloids has been achieved.


baron@cim.mcgill.ca