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

Eric L. Faulring, J. Edward Colgate

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

2 Scopus citations


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)
Number of pages8
ISBN (Print)0791836290, 9780791836293
StatePublished - 2002

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings


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

ASJC Scopus subject areas

  • Mechanical Engineering


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