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Table 3 List of coefficients for the cubic trajectory

From: Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator

CoefficientMagnitudeCoefficientMagnitude
aox− 550a1z0
a1x0a2z171/10
a2x− 21/10a3z−57/50
a3x7/50a1\(\pi\)/6
aoy− 100n14
a1y0a2\(\pi\)/6
a2y9/2n23
a3y− 3/10a3\(\pi\)/4
aoz180n36