Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

Figure 7

Comparison of each joint before and after optimization.

(a) Comparison of the velocity of each joint before optimization

(b) Comparison of the velocity of each joint after optimization

(c) Comparison of the acceleration of each joint before optimization

(d) Comparison of the acceleration of each joint after optimization

(e) Comparison of the output torque of each joint before optimization

(f) Comparison of the output torque of each joint after optimization