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

Table 2

Random test of three schemes.

		Test 1	Test 2	Test 3
Scheme 1	Best fitness	107.7	133.7	129.2
	Avg fitness	107.7	133.7	129.2
	Average time/s	103.6	115.4	119.4
Scheme 2	Best fitness	85.0	80.2	91.9
	Avg fitness	85.1	80.6	91.8
	Average time/s	122.6	122.5	132.8
Scheme 3	Best fitness	103.4	70.5	92.6
	Avg fitness	103.4	70.7	93.1
	Average time/s	143.5	130.8	132.4