Research Article
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/s2) | Jerk (deg/s3) |
| 1 | 175 | 100 | 120 | 2 | 175 | 100 | 90 | 3 | 175 | 100 | 125 | 4 | 360 | 100 | 200 | 5 | 360 | 100 | 180 | 6 | 500 | 100 | 230 |
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