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

Table 1

Kinematic limits of a six-axis robot.

Joint	Velocity (deg/s)	Acceleration (deg/s^2)	Jerk (deg/s^3)
1	175	100	120
2	175	100	90
3	175	100	125
4	360	100	200
5	360	100	180
6	500	100	230