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.

	1.0/0/0	0/1.0/0	0/0/1.0	0.3/0.4/0.5
Number	49	48	43	33
(rad)	2.21861	0.60335	1.80834	0.89023
(rad)	0.65410	1.36034	1.51717	0.95596
(rad)	1.13171	1.13244	1.13161	1.1332
(rad)	0.97200	1.42901	1.7232	1.41036
(rad)	1.11198	0.80241	0.82238	1.31284
(rad)	2.26693	2.97239	1.93836	1.94433
(rad)	0.94546	1.70243	0.99593	0.63767
Length (mm)	1044.08	1183.91	2093.14	1155.9
Weighted rotation (rad)	1.56684	0.97886	1.59959	0.99378
Time (s)	6.4620	6.7684	4.9002	5.4983