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

Table 4

The interpolation points in joint space.

Points	Joints
	1	2	3	4	5	6
	0	0	0	0	0	0
		0.845 7		21.566 2		21.567 4
		4.138 5				80.237 3
		6.328 1				145.687 4