Mathematical Problems in Engineering

Research Article

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

Table 2

Trajectory optimization results.
 Joint 1Joint 2Joint 3
Optimal position sequence (°)[−45  −45  −45  −45  −45  −45  −44.852
  −42.154  −25.503   −16.098  −0.967
  16.616  32.361  40.608  44.449  45
  45  45  45  45  45]		[55.2078  55.253  55.803  59.071
  61.206  63.373  66.314  76.713  91.353
  93.209  94.417  92.086  87.013  79.314
  68.553  62.888  59.210  55.221  51.230
  50.733  50.644]		[116.812  116.827  117.050  118.214
  119.520  121.034  123.033  129.159
  133.419  133.504  133.464  133.490
  131.504  125.722  119.897  118.047
  116.636  114.876  112.666  112.302
  112.314]
Optimal time series (s)[0  0.028  0.084  0.214  0.273  0.322  0.378  0.543  0.844  0.942  1.106  1.320  1.516  1.691  1.887  1.982  2.048  2.143  2.332  2.423  2.479]
Optimal object s, °/s2,  J