Kinematics, dynamics, and error free joint interpolation for n-degree of freedom robot

Joint interpolation improvements are developed through use of a quintic equation with adjustments applied through the concept of tension. Through this development, error free joint interpolation methods have been determined. Error free joint interpolation methods have no position error with respect to the reference data(joint angles) which are generated from the inverse kinematics of a robot.Finally, flexible robot dynamics have been developed for planar motion. The dynamic methods use the developed error free joint interpolation as an input.Through computer simulation of circular and the straight line motion with both a PUMA 560 and a flexible robot, the effectiveness and the accuracy of the developed algorithms have been demonstrated.