FEATURES OF CONSTRUCTING PROGRAM MOVEMENTS USING HERMITE SPLINES OF THE THIRD AND FOURTH ORDERS

Abstract

The aim of the article is to construct program trajectories of motion for subsequent microplasma spraying using a robotic complex. The research results proposed in the article are focused on the practical use of methods for further construction of robot movement. The proposed approach using Hermite splines of the third and fourth orders makes it possible to construct motion trajectories taking into account speed. Various trajectories of movement construction were considered. An algorithm for constructing a spline was shown. Trajectories for splines of the third and fourth orders were constructed in the Matlab environment. To construct the trajectories of the robot's movement, a fourth-order Hermite spline was chosen, which satisfies the condition of passing along the selected trajectory with certain speeds and has minimal offsets.