• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.4
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• pp.68-78
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• 2008

For a smooth transition between consecutive paths, conventional robot controllers usually generate a transition trajectory by blending consecutive paths in a time coordinate. However, this has two inherent drawbacks: the shape of a transition path cannot be designed coherently and the speed during transition is uncontrollable. To overcome these problems, this paper provides a path-level, rather than trajectory-level, smooth transition method with the curvature bound between non-smoothly connected paths. The experiment results show that the resultant transition trajectory is more smoothly connected than the conventional methods and the curvature is closely limited to the desired bound within the guaranteed level ($0.02{\sim}1$).