A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

Table 6

The desired joint displacement and specified points on desired end-effector inertial position trajectory.

Via-point index	Time instants	Joint 1 (mm)	Joint 2 (mm)	Joint 3 (mm)	Joint 4 (rad)	Joint 5 (rad)	() (mm)	() (mm)	() (mm)
		1		262.63	142.92	367.10				−1.030	1.028	600	−150	1200
2		264.82	149.16	361.35	−1.0374	1.0253	605.375	−146.070	1194.164
3		279.40	189.61	325.12	−1.082	0.993	640	−120	1157
4		298.23	236.26	288.21	−1.117	0.918	680	−90	1118
5		319.14	284.04	255.31	−1.149	0.838	720	−60	1083
6		341.88	333.02	223.38	−1.179	0.752	760	−30	1052
7		366.21	383.29	201.39	−1.206	0.662	800	0	1025
8		391.95	434.95	180.26	−1.232	0.566	840	30	1002
9		418.93	488.14	162.95	−1.257	0.466	880	60	983
10		447.03	543.04	149.39	−1.280	0.361	920	90	968
11		476.11	599.93	139.50	−1.303	0.252	960	120	957
12		502.37	651.71	134.09	−1.3412	0.2045	993.187	144.873	9.51221
13		507.92	662.77	132.92	−1.350	0.197	1000	150	950