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Table 2 Maximum kinematic values resulting from the trajectory construction approaches

From: Multi-objective Trajectory Planning Method based on the Improved Elitist Non-dominated Sorting Genetic Algorithm

Approach

Joint

1

2

3

4

5

6

7

Quintic B-splines

 Vmax

0.768

0.458

1.206

2.001

0.0201

0.0839

0.0513

 Amax

3.757

1.627

6.976

6.808

0.136

0.870

0.565

Composite polynomials

 Vmax

0.815

0.429

1.152

1.929

0.0169

0.0693

0.0397

 Amax

2.602

2.029

4.829

5.659

0.108

0.710

0.449

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