Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Table 1

Three methods of randomized trials.

		Test 1	Test 2	Test 3	Test 4	Test 5
Modified optimization algorithm	Best fitness	107.7	133.7	129.2	130.1	112.7
	Avg fitness	107.7	133.7	129.2	130.1	112.3
	Average time/s	103.6	115.4	119.4	126.0	112.3
ESGA	Best fitness	346.1	347.8	388.6	256.9	266.2
	Avg fitness	346.5	342.5	388.6	256.9	266.2
	Average time/s	29.2	28.8	29.7	26.0	26.4
SGA	Best fitness	446.0	477.3	538.2	540.1	544.9
	Avg fitness	689.6	672.7	699.4	676.7	696.4
	Average time/s	28.3	29.2	26.6	28.6	33.7