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Abstract <p>Since one of the most pressing production tasks today is to improve the quality and speed of manufacturing products using robotic systems, this article examines the technological process of drilling holes based on the KUKA LBR IIWA 7 R800 collaborative robot. This article presents the results of a study of the influence of interpolation methods in the trajectory control of a robot on the performance indicators of the technological process: the time to calculate the trajectory of bypassing an obstacle, the time to implement the movement, and the energy required to implement the movement. Recommendations have been developed for choosing an interpolation method for an intelligent control system in the presence of technological requirements—eliminating or minimizing pauses for operational design of movements.</p>

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Automation of Interpolation Method Selection in Motion Planning for a Collaborative Robot in Machining Operations

  • 期刊论文

  • 发表日期：

    2025年12月22日

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  • M. A. Gorkavyy,
  • M. A. Melnichenko,
  • V. A. Solovyov,
  • A. I. Gorkavyy

摘要

Abstract

Since one of the most pressing production tasks today is to improve the quality and speed of manufacturing products using robotic systems, this article examines the technological process of drilling holes based on the KUKA LBR IIWA 7 R800 collaborative robot. This article presents the results of a study of the influence of interpolation methods in the trajectory control of a robot on the performance indicators of the technological process: the time to calculate the trajectory of bypassing an obstacle, the time to implement the movement, and the energy required to implement the movement. Recommendations have been developed for choosing an interpolation method for an intelligent control system in the presence of technological requirements—eliminating or minimizing pauses for operational design of movements.