. Author manuscript; available in PMC: 2012 May 9.

Published in final edited form as: IEEE Int Conf Robot Autom. 2011 May 9:667–673. doi: 10.1109/ICRA.2011.5980311

TABLE I.

Example 3: Section Radii of Curvature and Lengths

Target Point	R₁	R₂	R₃	l₁	l₂	l₃
1	35.25	39.16	9.97	27.79	53.59	22.31
2	35.7	39.16	9.97	26.67	51.02	15.71
3	35.25	39.16	9.97	27.28	46.83	15.28
4	35.25	39.16	9.97	26.17	42.08	19.02
5	35.23	39.16	9.97	32.64	27.79	28.4
6	34.14	39.16	10.04	39	9.04	30.85

Example 3: Radii of curvature $R_{i}^{k}$ (in mm) and section lengths $l_{i}^{k}$ (in mm) computed by Algorithm 2 for all six target points. Note a very small deviation in the values of radii of curvature for the three (fixed-curvature) segments among all target points.