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Table 2 Via points in joint space

From: Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

Joint Via points (mm)
1 2 3 4 5 6
1 657 657 657 657 657 657
2 712 634 725 657 715 585
3 702 685 729 716 701 601
4 724 682 760 727 711 527
5 722 660 779 711 754 541
6 733 665 755 722 699 524