A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator

Table 3

The interpolation points of the manipulator in Cartesian space.

Starting point	First interpolation point	Second interpolation point	Terminal point
(−431, −150, 452.1)	(−444.1, −128.5, 452.2)	(−468.1, −130.5, 452.2)	(−478.7, −149.2, 452.1)