RESEARCH ON THE GENERATION OF INTERPOLATED MOVEMENTS IN THE CASE OF A ROBOTIC MECHANISM WITH ANTHROPOMORPHIC STRUCTURE

The implementation of robotic system commands, along with the design of the component mechanisms, contributes to their correct functioning while performing various tasks. In this sense, the precise generation of interpolated movements at the level of the end effectors from the component of robotic mechanisms is particularly important in the optimal performance of tasks in many industrial applications. Compared to the point-to-point commands, the interpolated commands are intended to pilot the robotic mechanisms so that their final effectors follows an imposed trajectory in the operational space of the robot with an imposed hourly law. The paper presents a method for generating interpolated movements in the case of a robotic system whose active mechanism has an anthropomorphic structure. The presented method uses the differential model of the analyzed robotic system. The introduced interpolation is linear, and the hourly law used is in the form of a polynomial of the fifth degree. Within the simulations performed, the four possible configurations of the anthropomorphic robotic mechanism that allow the achievement of the imposed task were highlighted. Finally, for one of these configurations, the variation curves of the coordinates corresponding to the actuation motors for a certain task are established.