Hierarchical Task Planning for Multiarm Robot with Multiconstraint

Table 1

Manipulator parameter table.

Numerical order	Joint angle	Torsion angle	The length of the connecting rod	Connecting rod bias
	1	90	0	0	0.38
2	−90	−90	0	0.11
3	0	90	0	0.24
4	0	0	0.13	0
5	−90	0	0.13	0
6	0	−90	0	0.30
7	0	90	0	0
8	0	−90	0	0.09