Interpolation is making the end of a robot arm move smoothly from one pose (position and orientation) to another ie programming it to move smoothly from A to B through a series of intermediate points. Linear interpolation does the job very nicely, but has the drawback that the motion is not totally smooth because of the accelerations. Point A initially has no motion and must be accelerated to a rapid velocity while motion suddenly stops at B. These accelerations are a very real problem for the motors of a real robot. Smoothness at the start and end of motion can be achieved by computing with a fifth-order polynomial, and this process is called polynomial interpolation. Now let’s relate the interpolated motion of robots to quantum gravity and intergalactic travel.