Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO
Table 1
The kinematic parameters of each arm.
(°)
Interval (°)
(°)
(mm)
(mm)
1
0
−90
0
2
0, 90
90
0
3
0, 180
0
0
4
0, 180
0
0
5
0, 200
0
0
6
0, 240
0
0
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