Optimal Trajectory Planning for Minimizing Base Disturbance of a Redundant Space Robot with IQPSO

Table 3

The optimal results.

Standard functions	QPSO	PSO	SAPSO	IQPSO proposed
best	4.9868e − 10	6.3046e − 05	0.4276	7.9168 e − 12
Worst	5.0589e − 07	0.0235	3.9898	2.7583 e − 07
best	1.0309	2.1960	30.3178	1.0254
Worst	28.3054	21.2206	74.0135	25.4100
best	3.9784e − 10	6.0854e − 06	0.0950	8.9720 e − 11
Worst	0.0078	0.0048	0.4476	0.0041
best	2.0759e − 05	0.0492	1.7189	3.0474 e − 06
Worst	6.9477e − 04	0.7856	5.4503	1.2442 e − 04

The text in bold means the optimal results achieved by the four algorithms.