Unstressed combined trajectory of robot

The problem of forming a smooth combined trajectory of the robot and determining the position of the connection points, providing kinematic and dynamic smoothness conditions, is considered. Mathematical relations are obtained that express the conditions for connecting arcs of a trajectory without a jump in the radii of curvature at the joints. The proposed method provides the formation of complex technical forms and creates on their basis new models of the combined trajectory of a robot of continuous curvature.