@inproceedings{250819589d4e4494bd25f00e98ba4753,
title = "Run-time three-dimensional blend-path generation for cobot constraint surfaces",
abstract = "During human-cobot interaction, transitions often occur between free mode operation and constraint surface following. This paper considers the following typical scenario: an operator of a three-dimensional (e.g. x-y-z or x-y-θ) cobot commands a {"}join{"} from free mode to a one-dimensional constraint path. To ensure that this transition is smooth and responsive, a {"}blend path{"} is computed that joins the cobot's initial location to a location on the constraint path. The blend path must match tangency and curvature at each end, and must also exhibit continuous curvature. A novel {"}triple-clothoid{"} algorithm is developed that meets these requirements. In addition, we demonstrate that the triple-clothoid is particularly amenable to x-y-θ systems via implementation on a planar cobot.",
keywords = "Clothoid, Cobot, Curvature, Path generation, Three-dimensional",
author = "Faulring, {Eric L.} and Colgate, {J. Edward}",
year = "2002",
doi = "10.1115/IMECE2002-33837",
language = "English (US)",
isbn = "0791836290",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings",
publisher = "American Society of Mechanical Engineers (ASME)",
pages = "875--882",
booktitle = "Dynamic Systems and Control",
}