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

Table 8

The best found joint displacement and actual points on end-effector inertial position trajectory.

Via-point index	Time instants (sec)	Joint 1 (mm)	Joint 2 (mm)	Joint 3 (mm)	Joint 4 (rad)	Joint 5 (rad)	(mm)	(mm)	(mm)
		1	0	262.63	142.92	367.10				−1.030	1.028	599.974	−149.996	1199.998
2	0.330	263.57	145.35	364.92	−1.033	1.027	602.064	−148.530	1197.757
3	1.167	279.40	189.61	325.12	−1.082	0.993	639.988	−120.009	1156.971
4	1.970	298.23	236.26	288.21	−1.117	0.918	680.018	−89.937	1117.988
5	2.530	319.14	284.04	255.31	−1.149	0.838	719.961	−59.994	1082.990
6	3.016	341.88	333.02	223.38	−1.179	0.752	759.998	−30.042	1052.018
7	3.397	366.21	383.29	201.39	−1.206	0.662	799.999	0.022	1025.016
8	3.745	391.95	434.95	180.26	−1.232	0.566	839.951	30.000	1002.038
9	4.093	418.93	488.14	162.95	−1.257	0.466	879.967	59.997	983.048
10	4.485	447.03	543.04	149.39	−1.280	0.361	919.970	89.985	968.014
11	5.037	476.11	599.93	139.50	−1.303	0.252	959.982	119.989	956.999
12	5.769	505.32	667.51	133.42	−1.346	0.1969	996.812	147.566	950.498
13	6.189	507.92	662.77	132.92	−1.350	0.197	999.993	150.042	949.980