Table 3 List of coefficients for the cubic trajectory
From: Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator
Coefficient | Magnitude | Coefficient | Magnitude |
|---|---|---|---|
aox | − 550 | a1z | 0 |
a1x | 0 | a2z | 171/10 |
a2x | − 21/10 | a3z | −57/50 |
a3x | 7/50 | a1 | \(\pi\)/6 |
aoy | − 100 | n1 | 4 |
a1y | 0 | a2 | \(\pi\)/6 |
a2y | 9/2 | n2 | 3 |
a3y | − 3/10 | a3 | \(\pi\)/4 |
aoz | 180 | n3 | 6 |