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TableĀ 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