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

Table 4

The computing time.

Standard functions	QPSO	PSO	SAPSO	IQPSO proposed
	1.447	1.266	1.265	1.263
	1.337	1.648	1.289	0.916
	0.901	1.338	1.607	1.410
	1.437	1.588	1.592	1.434

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