Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

Table 2

Working times needed to perform the trajectory for each example.

Optimization algorithm	Example	1	2	3	4	5	6	7	8	9	10
	Working time (s)	0.7488	0.5909	0.7511	1.5557	0.7488	0.5115	1.3920	0.7118	0.4529	1.0000
	Example	11	12	13	14	15	16	17	18	19	20
	Working time (s)	0.7488	0.5909	0.7511	1.5557	0.7488	0.5115	1.3920	0.7118	0.4529	1.0000
Simulation; software; GRASP	Example	1	2	3	4	5	6	7	8	9	10
	Working time (s)	0.7500	0.6200	0.7700	1.6000	0.7600	0.5300	1.4000	0.7200	0.4600	1.2000
	Example	11	12	13	14	15	16	17	18	19	20
	Working time (s)	0.7500	0.6000	0.7600	1.5600	0.7500	0.5200	1.4300	0.7400	0.4600	1.3000