Table 1 The constraints of the robot joints
From: A 6-DOF robot-time optimal trajectory planning based on an improved genetic algorithm
Joint i | Constraints | ||
|---|---|---|---|
\( \theta^{\prime } (t)/(^{ \circ } /{\text{s}}) \) | \( \theta^{{\prime \prime }} (t)/(^{ \circ } /{\text{s}}^{2} ) \) | \( \theta^{{{\prime \prime \prime }}} (t)/(^{ \circ } /{\text{s}}^{3} ) \) | |
1 | 100 | 45 | 60 |
2 | 95 | 40 | 60 |
3 | 100 | 75 | 55 |
4 | 150 | 70 | 70 |
5 | 130 | 90 | 75 |
6 | 110 | 80 | 70 |