Table 1 Via points in workspace
From: Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot
Via points | Representation and units \(({\varvec{x}},{\varvec{y}},{\varvec{z}},\boldsymbol{\alpha },{\varvec{\beta}},{\varvec{\gamma}})\) (mm/(°)) |
|---|---|
1 | (0,0,0,0,0,0) |
2 | (15,20,15,4,5,12) |
3 | (25,31,42,7,8,6) |
4 | (40,60,30,15,14,13) |
5 | (50,40,40,8,12,16) |
6 | (25,67,20,16,15,14) |