Research Article
Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots
Table 1
Kinematic characteristics of PUMA 560 robot.
| | Joint | 1 | 2 | 3 | 4 | 5 | 6 |
| | Minimum angle (°) | −160.0 | −215.0 | −45.0 | −140.0 | −100.0 | −266.0 | | Maximum angle (°) | 160.0 | 35.0 | 225.0 | 140.0 | 100.0 | 266.0 | | Maximum velocity (°/s) | 82.0 | 54.0 | 122.0 | 228.0 | 241.0 | 228.0 |
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