Research Article
A Method of Energy-Optimal Trajectory Planning for Palletizing Robot
Table 1
Definition of main structural physical parameters.
| | Physical meaning | Symbol | Value |
| | Waist joint angle/rad | | — | | Big arm joint angle/rad | | — | | Forearm joint angle/rad | | — | | Length of big arm/mm | | 945 | | Length of forearm/mm | | 1025 | | Length of parallel arm/mm | | 400 | | Offset distance of 2-link/mm | | 267 | | Offset distance of 3-link /mm | | 740 |
|
|
