Efficiency analysis of algorithms for interpolation of a collaborative robot movement trajectories in the technological process of drilling

The paper studies the efficiency of a group of methods for interpolating a collaborative robot trajectory movements based on the criteria of minimizing the execution time of the trajectory of movement, maximizing energy efficiency and minimizing the trajectory of movement calculation time (separately) with-out deteriorating other integral indicators of the technological process quality. The studies were conducted on a simulation model of the KUKA LBR IIWA 7 col-laborative robot in the MATLAB environment. As a result of the numerical experiments on the model, it was found that, depending on the selected interpolation method, the electrical energy saving potential for one collision bypass can reach 48 %, and a reduction in the total execution time, taking into account the calculation of a new movement trajec-tory, is possible up to 16 %. The results of the numerical experiments made it possible to formulate a number of reason-able recommendations for choosing a method for interpolating trajectory movements associated with the need to by-pass collisions. In particular, an area diagram is presented illustrating the priority of choosing a trajectory motion inter-polation method to achieve the required quality functionality.