الفهرس 
Abstract
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Abstract
This thesis is concerned with the curvature theory of a rigid body moving in a three-dimensional space. While the theory is applied to robot trajectory planning, the result also provides insight into rigid body motion in general.
The motion of a robot end-effector in space has six degrees of freedom in general, and six independent parameters are required to describe the position and orientation of the end-effector. The robot trajectory, describing the motion of a robot end-effector, is represented here by a ruled surface and an additional parameter, referred to the spam angle.