Cartesian coordinates computation with interpolation algorithms of differential numerical analysis for industrial robot motion

Interpolate algorithms of numerical differential analyse, named in this paper ADNIA, may be implemented in purpose to generate a complex trajectory of industrial robots tool point. Considering the position matrix of an industrial robot, the linear or the circular ADNIA, according with linear or circular trajectory, may be implemented for interpolating the position vector: p⃗. The circular algorithm may be used for interpolate the orientation versors: n⃗, o⃗, a⃗. Those are the proposed computation algorithms and will be describe in this paper. The purpose of the described method is the value of position matrix elements, about a robotic arm.