Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO

Table 1

The kinematic parameters of each arm.

𝐽𝑖	𝜃𝑖 (°)	Interval (°)	𝛼𝑖−1 (°)	𝑎𝑖−1 (mm)	𝑑𝑖 (mm)
1	𝜃1	0	−90	𝑙1	0
2	𝜃2	[0, 90]	90	𝑙2	0
3	𝜃3	[0, 180]	0	𝑙3	0
4	𝜃4	[0, 180]	0	𝑙4	0
5	𝜃5	[0, 200]	0	𝑙5	0
6	𝜃6	[0, 240]	0	𝑙6	0