Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm

Table 1

Limit values of joint velocities and angles.

Limit	Joint
	S1	S2	S3	E1	E2	W1	W2
[rad/s]	1	1	2	2
[degree]	177	91	174	137	255	165	360