Optimal Trajectory Planning of Grinding Robot Based on Improved Whale Optimization Algorithm

Figure 3

Jerk values of joints with respect to each trajectory point before and after optimization. (a) Jerk values of joint 1, (b) jerk values of joint 2, (c) jerk values of joint 3, (d) jerk values of joint 4, (e) jerk values of joint 5, (f) jerk values of joint 6, and (g) joints of the robot.

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