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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)