Table 2 Optimization Results
From: A 6-DOF robot-time optimal trajectory planning based on an improved genetic algorithm
Time interval | Joint i | |||
|---|---|---|---|---|
Initial value | 1 | 2 | 3 | |
\( h_{1} \) | 4 | 2.785 | 2.113 | 3.349 |
\( h_{2} \) | 4 | 2.032 | 2.128 | 2.064 |
\( h_{3} \) | 4 | 2.316 | 1.764 | 1.626 |
\( h_{4} \) | 4 | 1.578 | 1.918 | 1.659 |
\( h_{5} \) | 4 | 1.824 | 1.706 | 2.113 |
\( h_{6} \) | 4 | 1.487 | 1.874 | 1.629 |
\( h_{7} \) | 4 | 1.707 | 2.878 | 2.208 |
Total time (s) | 28 | 13.729 | 14.381 | 14.648 |