Solving the Time-Jerk Optimal Trajectory Planning Problem of a Robot Using Augmented Lagrange Constrained Particle Swarm Optimization

Table 1

Input data for trajectory planning.

Joint	Plan-points (deg)
	1	2	3	4	5	6	7	8	9
1	30.00	Virtual	39.94	49.24	47.66	37.60	29.48	Virtual	30.04
2	−49.03		−57.25	−72.45	−79.89	−72.42	−57.16		−49.14
3	−38.27		−42.00	−49.16	−52.48	−49.25	−42.30		−37.96