Fig. 2. Simulation results of collision-free initial trajectories. (IMAGE)

Beijing Institute of Technology Press Co., Ltd

Fig. 2. Simulation results of collision-free initial trajectories.

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Fig. 2. Simulation results of collision-free initial trajectories. (A) Angles of joints 1 to 4. (B) Angles of joints 5 to 7. (C) Angular velocity of joints 1 to 4. (D) Angular velocity of joints 5 to 7. (E) Angular acceleration of joints 1 to 4. (F) Angular acceleration of joints 5 to 7. (G) Driving torque of joints 1 to 4. (H) Driving torque of joints 5 to 7.

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