Fig. 5. Simulation results for Case 1. (A) Cost value of the objective function. (B) Relative cost ratio. (C) Angles of joints 1 to 4. (D) Angles of joints 5 to 7. (E) Angular velocity of joints 1 to 4. (F) Angular velocity of joints 5 to 7. (G) Angular a (IMAGE)

Beijing Institute of Technology Press Co., Ltd

Fig. 5. Simulation results for Case 1. (A) Cost value of the objective function. (B) Relative cost ratio. (C) Angles of joints 1 to 4. (D) Angles of joints 5 to 7. (E) Angular velocity of joints 1 to 4. (F) Angular velocity of joints 5 to 7. (G) Angular a

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Fig. 5. Simulation results for Case 1. (A) Cost value of the objective function. (B) Relative cost ratio. (C) Angles of joints 1 to 4. (D) Angles of joints 5 to 7. (E) Angular velocity of joints 1 to 4. (F) Angular velocity of joints 5 to 7. (G) Angular acceleration of joints 1 to 4. (H) Angular acceleration of joints 5 to 7. (I) Driving torque of joints 1 to 4. (J) Driving torque of joints 5 to 7. (K) End-effector attitude quaternion. (L) Line-of-sight angle.

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