Solution:

Bounded Deviation Algorithm:

It is an algorithm that is used to obtain an approximated straight-line motion in the tool configuration space R 6 by using an articulated robot by selecting the number of knot points, minimizing the knot points and distributing them along the trajectory in an optimal manner.

Since the inverse kinematic equations have to be solved at each knot point, it is desirable and necessary to minimize the knot points and distribute them along the trajectory in an optimal manner.

The technique used for selecting the knot points is proposed by Taylor and the method is known as Bounded Deviation algorithm. It is used for approximating straight-line motion with a point-to-point robot.