Motion Trajectory Control System for Production Line Robots Based on Variable Domain Fuzzy Control

Table 3

Comparison of maximum time intervals.

Number of executions	Automatic generation time			Time consumption between joints
	Proposed	Literature [24]	Literature [25]	Proposed	Literature [24]	Literature [25]
1	0.01	0.07	1.01	0.06	0.22	0.18
2	0.02	0.07	0.99	0.04	0.27	0.27
3	0.03	0.11	1.01	0.05	0.13	0.27
4	0.03	0.11	0.05	0.05	0.22	0.07
5	0.02	0.08	0.06	0.06	0.14	0.11
6	0.01	0.06	0.04	0.03	1.01	0.24
7	0.03	0.09	0.07	0.04	0.92	0.22
8	0.03	0.086	0.05	0.04	0.81	0.43
9	0.03	0.09	0.08	0.03	0.99	0.37
10	0.04	0.11	1.01	0.05	0.67	0.25
Average value	0.024	0.089	0.479	0.046	0.538	0.241

Proposed average value of the ten executions.