Arc approximation algorithm of spatial movements for industrial robots

A new path planning algorithm for industrial robots is proposed in this paper. The algorithm is based on arc approximation of the given reference path. Such solution allows to reduce amount of the reference points, decrease code size and computational costs, increase performance of operations and simplify programming complex movements. The study represents extension of the previous work to the case of planning spatial movements in three-dimensional space. Experiments using a 6-DOF (degrees of freedom) articulated robot simulating typical industrial operations (e.g. welding, engraving, polishing) were carried out and corresponding experimental results are reported in the paper.