Run-time three-dimensional blend-path generation for cobot constraint surfaces

Eric L. Faulring, Ed Colgate

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages875-882
Number of pages8
ISBN (Print)0791836290, 9780791836293
DOIs
StatePublished - Jan 1 2002

Keywords

  • Clothoid
  • Cobot
  • Curvature
  • Path generation
  • Three-dimensional

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Faulring, E. L., & Colgate, E. (2002). Run-time three-dimensional blend-path generation for cobot constraint surfaces. In Dynamic Systems and Control (pp. 875-882). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2002-33837