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

Table 3

The start and end configuration of the experiment cases.

Case	Point		Angle
	Start	End	Start	End
1	(0.3, −0.8, 0.2)	(0.8, 0.1, 0.3)	−π/2	0
2	(0.8, 0.1, 0.3)	(0.1, 0.9, 0.2)	0	π/2
3	(0.1, 0.9, 0.2)	(0.5, 0.6, 0.9)	π/2	0