A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

Table 1

The weights of force function.

Half "8" (1e+4)					Circle (1e+4)
−2.2979	−2.3695	−2.4435	−2.3718	−2.0582	0.1681	0.2688	0.443	0.607	0.7142
−1.4371	−0.486	0.7424	2.1014	3.3706	0.7254	0.6066	0.3462	−0.0209	−0.3859
4.3119	4.7234	4.4585	3.4363	1.7055	−0.5654	−0.3867	0.1416	0.7143	0.845
−0.4195	−2.3042	−3.3686	−3.8401	−4.2306	0.2923	−0.6525	−1.3983	−1.4788	−1.1544
Line (1e+3)					Sinusoid
−0.5787	−0.5692	−0.5505	−0.5259	−0.4957	−161.373	−167.742	−172.901	−168.012	−147.138
−0.4586	−0.4132	−0.3576	−0.2897	−0.2073	−105.795	−41.5869	44.489	147.56	260.2086
−0.1076	0.0125	0.1564	0.3278	0.5308	374.8938	483.7187	572.6412	615.5687	579.3059
0.77	1.0503	1.3771	1.7377	1.996	441.335	212.2539	−43.9249	−201.26	−204.401