HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017 | pp． 141 ～ 148

doi： 10． 3772 / j． issn． 1006-6748． 2017． 02． 004

A transition method based on Bezier curve for trajectory

planning in cartesian space①
Zhang Shaolin （ 张少林） ＊＊＊
，Jing Fengshui ＊＊＊ ，Wang Shuo ②＊＊＊
*
（ The State Key Laboratory of Management and Control for Complex Systems，Institute of Automation，
Chinese Academy of Sciences，Beijing 100190，P． Ｒ． China）
（ ＊＊ University of Chinese Academy of Sciences，Beijing 100190，P． Ｒ． China）

Abstract
In order to smooth the trajectory of a robot and reduce dwell time，a transition curve is intro-
duced between two adjacent curves in three-dimensional space． G2 continuity is guaranteed to transit
smoothly． To minimize the amount of calculation，cubic and quartic Bezier curves are both ana-
lyzed． Furthermore，the contour curve is characterized by a transition parameter which defines the
distance to the corner of the deviation． How to define the transition points for different curves is
presented． A general move command interface is defined for receiving the curve limitations and tran-
sition parameters． Then，how to calculate the control points of the cubic and quartic Bezier curves is
analyzed and given． Different situations are discussed separately，including transition between two
lines，transition between a line and a circle，and transition between two circles． Finally，the experi-
ments are carried out on a six degree of freedom （ DOF） industrial robot to validate the proposed
method． Ｒesults of single transition and multiple transitions are presented． The trajectories in the
joint space are also analyzed． The results indicate that the method achieves G2 continuity within the
transition constraint and has good efficiency and adaptability．
Key words： transition method，Bezier curve，G2 continuity，transition constraint

transportation robot，and accuracy is more important

0 Introduction for a welding robot． So，the smoothness and accuracy
should be able to be adjusted for different applications．
A robot program consists of several motion com- There are already many investigations about tran-
mands and each command defines a curve． The most sition curves，especially in the field of transition be-
common curves are lines and circles，which are con- tween lines［4-10］． Sencer，et al． ［4］ proposed a method
nected head-to-tail in sequence． However，two adja- to transit between adjacent lines with quintic
cent curves may be not smooth at the intersection． The B-splines． G2 continuity was guaranteed and the cor-
robot has to halt at the terminal of a curve to avoid ve- nering tolerance could be set by the user． Bi，et al． ［5］
locity fluctuation． So，it is necessary to introduce a utilized cubic Bezier curve to transit between adjacent
transition part between two curves to smooth the trajec- lines． Also，G2 continuity was guaranteed，and the
tory and reduce the dwell time． curvature of the transition curve was analyzed． Zhao，
In PLCopen Motion Control Specifications［1，2］， et al． ［6］ utilized a curvature-continuous B-spline with
the way of connecting two curves without halt is called five control points for transition． Hota，et al． ［7］ pro-
blending mode． In this mode，a transition curve is in- posed a path named γ -trajectory for transition． Their
serted between two adjacent curves． In order to transit studies showed that various methods could be used to
smoothly，the transition curve needs to satisfy some transit between lines． But they did not illustrate how to
smoothness criteria． G2 continuity［3］ is usually adopted determine the order of the transition curve．
as the criterion． Furthermore， the transition curve The transition including circles has also been in-
should be characterized to adapt to different applica- vestigated in some fields［11-14］． Habib，et al． ［11］ de-
tions． For example，smoothness is more important for a scribed a method based on a single cubic Bezier curve

① Supported by the National Natural Science Foundation of China （ No． 61573358） and Ｒesearch and Development of Large Multi-function Demo-
lition Equipment in Disaster Site（ No． 2015BAK06B00） ．
② To whom correspondence should be addressed． E-mail： shuo． wang@ ia． ac． cn
Ｒeceived on May 17，2016
 142 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017

to join two circles． The transition curve was S-shaped

or C-shaped，and of G2 continuity． This method was
applied to highway and railway route design． A similar
work was done by Ahmad A et al． ［12］，but quartic
Bezier spiral was used for transition instead． Ｒashid，
et al． ［13］ proposed an S-shaped transition curve to join
two tangent circles of the same diameter，which was
used to design a Spur Gear Tooth． Most of the studies
focused on planar transition in different applications．
Fig． 1 Velocity diagram for transition
However，few studies have been done on transition be-
tween adjacent lines and circles with shape control，es-
pecially in three-dimensional space．
In this paper，a transition method is developed
based on Bezier curve to achieve G2 continuity． For ef-
ficiency of the algorithm，a single curve is adopted for
transition． Cubic Bezier curve is tried first because it is
of low degree and easily calculated． If cubic Bezier
curve does not meet the smoothness constraint，quartic
Bezier curve will be used． Different situations are dis- Fig． 2 the MovL / MovC command［1，2］
cussed separately， including transition between two
lines，transition between a line and a circle and transi-
tion between two circles． The lines and circles are sup-
posed to be in three-dimensional space without any lim-
itations for the circle radii，and the length of line and
circle． Furthermore，to characterize the contour curve，
a transition parameter（ TP） which defines the distance
to the corner of the deviation is adopted． If a robot is
moving along a curve，the transition will start when the
remaining length is shorter than TP． Fig． 3 An example of three lines for transition
The remaining part of this paper is organized as
follows． Section 1 introduces a general transition inter-
face and a planning procedure． How to transit between
two adjacent curves is presented in Section 2． The
transition method is demonstrated with experiments in
Section 3． Finally，conclusions are given in Section 4．

1 Transition interface and planning proce-

dure

Transition curve is inserted between two adjacent

curves and the speed is re-planned， as shown in
Fig． 1． Transition planning is a part of trajectory plan-
ning． Transition planning reads motion commands from
program，and prepares the curves for interpolation． For Fig． 4 A flow chart for transition planning procedure
example，there are three move line （ MovL） commands
in a robot program． The transition interface for program Firstly，the transition planning task reads transi-
is shown in Fig． 2，the desired trajectory is shown in tion commands． If the “TransitionMode”parameter of
Fig． 3，and the general transition planning procedure is the MovL （ line AB） command is“blending”，a transi-
shown in Fig． 4． tion curve will be inserted between line AB and line
BC． Transition P1 P2 starts at point P1 and ends at point
P2 ． The length of line P1 B and line BP2 are defined as
 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017 143

Algorithm 1． TP AB here is short for“Transition Parame- The Bezier curve is a weighted average of each
ter”parameter of the MovL （ line AB） command． The control point． It begins at P0 and ends at P n ． The Bezi-
lengths of line P3 C and line CP4 are calculated similar- er curve has the convex hull property，which means
ly． that the curve does not“undulate”more than the poly-
If the length of line AB and line BC are both lar- gon of its control points． For cubic Bezier curve （ n =
ger than 2·TP AB ，the length of line P1 B and line BP2 3） ，four control points are needed． For higher-order
are equal to TP AB ． Otherwise，they are defined in terms curves，the amount of computation will be larger and
of the length of line AB and line BC． So，line BC may more intermediate points are needed．
have two different transition points or two overlapping The derivatives for a Bezier curve at C（ 0） and
points． More examples are shown in Fig． 5． C（ 1） are
C'（ 0） = n（ P1 － P0 ）
（ 3）
Algorithm 1 Calculation of Length （ P1 B） and Length （ BP2 ） C'（ 1） = n（ P n － P n －1 ）
Input： Length（ AB） ，Length（ BC） ，TP AB The second derivatives are
Output： Length （ P1 B） ，Length （ BP2 ） C″（ 0） = n（ n － 1） （ P2 － 2P1 + P0 ）
（ 4）
1： if C″（ 1） = n（ n － 1） （ P n － 2P n －1 + P n-2 ）
Length（ AB） ＞ 2·TP AB For G2 continuity，the adjacent curves share a
Length（ BC） ＞ 2·TP AB common tangent direction and a common center of cur-
then vature at the join point［3］． The curvature at C（ 0） and
2： Length（ P1 B） = TP AB C（ 1） should be
3： else | C'（ u） × C″（ u） |
κ = ，u = ｛ 0， 1｝ （ 5）
4： Length（ P1 B） = min（ Length（ AB） ，
Length（ BC） ） /2 | C'（ u） | 3
5． end if Substituting Eq． （ 3） and Eq． （ 4） into Eq． （ 5）
6． Length（ BP2 ） = Length（ P1 B） yields
（ n － 1） | （ P1 － P0 ） × （ P2 － P1 ） |
κ = ，u = 0
n | （ P1 － P0 ） | 3
（ 6）
（ n － 1） | （ P n － P n －1 ） × （ P n －2 － P n －1 ） |
κ = ，
n | （ P n － P n －1 ） | 3
u = 1 （ 7）

2． 2 Transition between two lines

Fig． 6 shows a case of a cubic Bezier curve （ n = 3）
transiting from line AB to line BC． Point P0 and point P3
Fig． 5 The transition points of lines and circles are the transition points set by Algorithm 1．

After getting the information of the transition

points，the transition curve could be calculated，as will
be introduced in Section 2． Then，it is ready for inter-
polation．

2 A transition method based on a single

Fig． 6 The transition between two lines
Bezier curve
1） The transition curve should be tangent with
2． 1 Preliminaries
line AB and line BC．
Given spatial control points P i （ i = 0， 1， 2，…，
From Eq． （ 3） ，control point P1 should be on line
n） ，the interpolation for each point on the Bezier curve
AB，and control point P2 should be on line BC．
is  → →
n P0 P1 × P0 B = 0
→ → （ 8）
C（ u） = ∑ P i B i，n （ u） ，u ∈ ［0，
1］ （ 1） BP3 × P2 P3 = 0
i =0
where 2） The transition curve should have the same cur-
B i，n （ u） = C in u i （ 1 － u） n －i
，i = 0，
1，…，n （ 2） vature with line AB and line BC．
 144 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017

κ = 0，u = 0 （ 9）
point P4 are the transition points set by Algorithm 1．
k = 0，u = 1 Point P1 ，point P2 and point P3 are given as follows：
From Eqs（ 6） ～ （ 9） ，point P1 and point P2 should
overlap at point B． Then，the transition Bezier curve is
given by point P0 ，point P1 ，point P2 ，and point P3 ．

2． 3 Transition between a line and a circle

Fig． 7 shows a case of a cubic Bezier curve （ n =
3） transiting from line AB to circle BC． Point P0 and
point P3 are the transition points set by Algorithm 1．

Fig． 8 The transition between a line and a circle

（ quartic Bezier curve）

1） Point P2
Intuitively，in order to track the given trajectory，
point P2 should be around line AB or circle BC． For the
simplicity of calculation，point P2 is set at point B．
2） Point P3
Similar to Eq． （ 11） ，there exists：
Fig． 7 The transition between a line and a circle → →
OP4 ·P3 P4 = 0
（ cubic Bezier curve） → →  → （ 14）
OP3 ·（ OB × OP4 ） = 0
From Eq． （ 7） and Eq． （ 12） ，
1） The transition curve should be tangent with
3
line AB and circle BC． | P4 － P3 | 2 = r | P2 － P3 | sin（ α）
4
From Eq． （ 3） ，control point P1 should be on line
3
AB，and control point P2 should be on the tangent line = r2 （ 1 － cos（ θ） ） （ 15）
4
of circle BC at point P3 ． where α = ∠P2P3P4，θ = ∠P2OP4，0 ＜ θ ＜ 2pi．
 → →
P0 B × P0 P1 = 0 （ 10）
→ →
OP3 ·P2 P3 = 0 From Eq． （ 14） and Eq． （ 15） ，point P3 is ob-
→  → → （ 11）
OP2 ·（ OB × OP3 ） = 0 tained．
2） The transition curve should have the same cur- 3） Point P1
vature with line AB and circle BC． From Eq． （ 6） ，Eq． （ 10） and Eq． （ 12） ，there
κ = 0，u = 0 are multiple solutions for point P1 ． An optimization in-
（ 12）
k = 1 / r，u = 1 dex can be added to obtain the optimal solution． One
where r is the radius of circle BC． answer is to add a constraint as Eq． （ 16） ． Approxi-
From Eqs（ 6） ，（ 7） and Eqs（ 10） ～ （ 12） ，point mately，ε means a measure of curvature． Thus to get
P1 and point P2 are defined． If point A，point B，point C the minimum of ε makes the transition curve bend at
and point O are coplanar，the solution is given as fol- least［15］．
1
lows． Otherwise，there is no solution．
1） Point P2 is the intersection of line P0 P1 and
ε = ∫ C″（ u） ·C″（ u） du
0
（ 16）

line P3 P2 ． Let dε / dl1 = 0，l1 = | P1 － P0 | ． Substituting

2） From Eq． （ 7） and Eq． （ 12） ，Eq． （ 13） is got． Eq． （ 1） into Eq． （ 16） yields
Then，point P1 is given by Eq． （ 10） and Eq． （ 13） ． 1
l1 = （ 4a21 d + 4b21 d
3 16（ a21 + b21 + c21 ）
| P1 － P2 | = | P3 － P2 | 2 （ 13） + 4c21 d + 4a1 a2 l2 + 4b1 b2 l2 + 4c1 c2 l2
2rsin（ α）
where α = ∠P1P2P3． － 3a1 x0 + 3a1 x4 － 3b1 y0 + 3b1 y4 － 3c1 z0
Quartic Bezier curve （ n = 4） could meet the + 3c1 z4 ） （ 17）
smoothness constraints here （ see Fig． 8） ． Point P0 and where
 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017 145

l2 = | P 4 － P 3 | ， can be used to solve these functions，but with a large

P0 = （ x0 ，y0 ，z0 ） ， amount of computation．
P4 = （ x4 ，y4 ，z4 ） ， Quartic Bezier curve （ n = 4） could meet the
→ smoothness constraints here，see Fig． 10． Point P0 and
P0 P2
= （ a1 ，b1 ，c1 ） ， point P4 are the transition points set by Algorithm 1．
| P0 P2 |
→ Point P1 ，point P2 and point P3 are given as follows：
P4 P3
= （ a2 ，b2 ，c2 ） ，
| P4 P3 |
d = TP．
From Eq． （ 10） and Eq． （ 17） ，point P1 is ob-
tained．
Then，the transition Bezier curve is given by point
P0 ，point P1 ，point P2 ，point P3 and point P4 ．

2． 4 Transition between two circles

Fig． 9 shows a case of a cubic Bezier curve （ n =
3） transiting from circle AB to circle BC． Point P0 and
point P3 are the transition points set by Algorithm 1． Fig． 10 The transition between two circles
（ quartic Bezier curve）

1） Point P2
Similar to Section 2． 3，point P2 is set at point B．

2） Point P3
Similar to Eq． （ 19） ，there exists：
→ →
O2P4·P4P3 = 0
→ → → （ 21）
O2P3 ·（ O2 B × O2P4） = 0
From Eq． （ 7） and Eq． （ 20） ，
3
Fig． 9 The transition between two circles | P4 － P3 | 2 = r2 | P2 － P3 | sin（ α2 ）
（ cubic Bezier curve） 4
3
= r22 （ 1 － cos（ θ2） ） （ 22）
1） The transition curve should be tangent with 4
circle AB and circle BC． where α2 = ∠P2P3P4，θ2 = ∠P2O2P4，0 ＜ θ2 ＜
From Eq． （ 3） ，control point P1 should be on the 2pi．
From Eq． （ 21） and Eq． （ 22） ，point P3 is ob-
tangent line of circle AB at point P0 ，and control point
tained．
P2 should be on the tangent line of circle BC at point
3） Point P1
P3 ．
→ → Similar to Eq． （ 21） and Eq． （ 22） ，there exist：
O1P0·P0P1 = 0 → →
→ → → （ 18） O1P0·P0P1 = 0
O1P1 ·（ O1 B × O1P0） = 0 → → → （ 23）
→ → O1P1 ·（ O1 B × O1P0） = 0
O2P3·P3P2 = 0 3
→ → → （ 19） | P1 － P0 | 2 = r1 | P2 － P1 | sin（ α1）
O2P2 ·（ O2 B × O2P3） = 0 4
2） The transition curve should have the same cur- 3
= r21 （ 1 － cos（ θ1） ） （ 24）
vature with circle AB and circle BC． 4
κ1 = 1 / r1，u = 0 where α1 = ∠P0 P1 P2 ，θ1 = ∠P0 O1 P2 ，0 ＜ θ1 ＜
（ 20）
k2 = 1 / r2，u = 1 2pi．
where r1 is the radius of circle AB，and r2 is the radius From Eq． （ 23） and Eq． （ 24） ，point P1 is ob-
of circle BC． tained．
From Eqs（ 6） ，（ 7） and Eqs（ 18） ～ （ 20） ，point Then，the transition Bezier curve is given by point
P1 and point P2 are defined． However，it is difficult to P0 ，point P1 ，point P2 ，point P3 and point P4 ．
obtain the analytical solutions here． Numerical method Mark 1 Although Figs6 ～ 10 illustrate conditions
 146 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017

for planning on plane，the transition method is also fea-

sible for spatial planning，as will be shown in Section
3．

3 Experiments

The transition method is evaluated by several ex-

periments on a six DOF robot—EＲ20-C10． The control
system is shown in Fig． 11． The original motion con-
troller is replaced by an industrial computer CX5130
made by Beckhoff company． In addition to the transi-
tion method，some other components are also realized Fig． 12 The transition between two lines （ cubic Bezier curve）
for the experiment，such as robot program interpreter，
trajectory planning method for line and circle com-
mands，and forward and inverse kinematics．

Fig． 11 The control system of a six DOF robot Fig． 13 The transition between a line and a circle
（ quartic Bezier curve）
To verify the feasibility of the transition method，
experiments are organized as follows．

3． 1 Transition between two adjacent curves

A program with two move commands is tested．
Each command may be a line or a circle． The first
command is set to blending mode with an appropriate
TP． In order to guarantee G2 continuity and minimize
the amount of calculation，a cubic Bezier curve is used
for transition between two lines and a quartic Bezier
curve is used for transition involving one or two circles．
Fig． 14 The transition between two circles
The sample tests are shown in Figs12 ～ 14． The TP pa-
（ quartic Bezier curve）
rameters are all set to 5． The transition curve with a
smaller TP stays closer to the original trajectory which
leads to a smaller transition error and a limited smooth-
ness，and vice versa． The method shows good adapta-
bility no matter where the end point of the second com-
mand is set．

3． 2 Velocity and acceleration analysis

Multiple lines and circles are tested in this experi-
ment，as shown in Fig． 15． A transition curve is insert-
ed between each pair of adjacent curves． The velocity
Fig． 15 The transition between multiple curves
and acceleration of the trajectory are shown in Fig． 16．
 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017 147

Fig． 16 The velocity and acceleration of the trajectory Fig． 18 The joint angle corresponding to the trajectory with
with transition transition in Fig． 15 （ axis 1； axis 2； axis 3； axis 4；
axis 5； axis 6）

Fig． 17 The velocity and acceleration of the trajectory Fig． 19 The joint angle velocity corresponding to the trajectory
without transition with transition in Fig． 15 （ axis 1； axis 2； axis 3； axis
4； axis 5； axis 6）
S-curve-type acceleration profile is adopted for the ve-
locity and acceleration planning． The maximum veloci-
ty for each curve is 50 mm / s，max acceleration is 100
mm / s2 and maximum jerk is set to 200 mm / s3 ． The
whole trajectory takes about 3． 57s． The velocity and
acceleration of the original trajectory without transition
are shown in Fig． 17． It is tested with the same veloci-
ty，acceleration and jerk constraints，and takes about
5． 48s． Obviously，the velocity of the trajectory with
transition is smoother and takes less time．

3． 3 Velocities in the joint space Fig． 20 The joint angle corresponding to the trajectory without
Since the trajectory of a robot is finally realized in transition in Fig． 15 （ axis 1； axis 2； axis 3； axis 4；
axis 5； axis 6）
the joint space，the position and velocity of each joint
are tested． When the robot moves along the trajectory
shown in Fig． 15，the position of each joint can be got 4 Conclusions
by inverse kinematics，and the velocity is the differen-
tial of position． Figs18 ～ 19 show the joint angle and It has been demonstrated that a single Bezier
velocity when transition mode is set to blending，and curve can be utilized to transit between lines and cir-
cles in three-dimensional space． In the transition be-
Figs20 ～ 21 show those without transition． The same
tween two lines，a cubic Bezier curve could satisfy the
result can be got that the trajectory with transition
moves smoother and takes less time． G2 continuity． In the transition between a line and a
circle，if the line is coplanar with the circle，a cubic
Bezier curve is able to transit smoothly． Otherwise，a
quartic Bezier curve is needed． A curvature constraint
 148 HIGH TECHNOLOGY LETTEＲS | Vol． 23 No． 2 | June 2017

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sharp corner smoothing algorithm for high-speed feed mo-
student in Institute of Automation，Chinese Academy of
tion generation of NC systems along linear tool paths． In- Sciences． He received his B． S and M． S degrees in
ternational Journal of Advanced Manufacturing Technolo- Huazhong University of Science and Technology in
gy，2014，76（ 9） ： 1977-1992 2010 and 2013 respectively． His research interests in-
［ 5］ Bi Q，Wang Y，Zhu L，et al． A Practical continuous-cur- clude the intelligent robotics and motion control tech-
vature Bézier transition algorithm for high-speed machi- nology．
ning of linear tool path． In： Proceedings of the 2011 In-
ternational Conference on Intelligent Ｒobotics and Appli-
cations，Aachen，Germany，2011． 465-476