Mathematical Problems in Engineering / 2017 / Article / Tab 1

Research Article

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Table 1

Parameters of the optimal avoidance trajectory obtained from different evaluation functions.

1.0/0/00/1.0/00/0/1.00.3/0.4/0.5

Number49484333
(rad)2.218610.603351.808340.89023
(rad)0.654101.360341.517170.95596
(rad)1.131711.132441.131611.1332
(rad)0.972001.429011.72321.41036
(rad)1.111980.802410.822381.31284
(rad)2.266932.972391.938361.94433
(rad)0.945461.702430.995930.63767
Length (mm)1044.081183.912093.141155.9
Weighted rotation (rad)1.566840.978861.599590.99378
Time (s)6.46206.76844.90025.4983

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