About adapting traversing trajectories ADN interpolating algorithms for industrial robot

The paper analyse ADN (analizor diferential numeric), numerical difference analyse interpolating algorithms to generate a complex trajectory at industrial robots. The ADN method can be applied for interpolating a linear or a circular segment. The both interpolating algorithms, the linear one and the circular one, are utilised for interpolating the position vector p r and orientation vectors n o ar v r , , that define the position matrix of an industrial robot. The method utilised is an ADN method that I propose.