Comparisons of calculation time and number of iterations
| Method | Calculation time of 200 sampling points (ms) | Calculation time per sampling point (ms) | No. of iterations |
|---|---|---|---|
| PF method by trigonometry | 20.79 | 0.10 | 305 |
| PF method by proportional approximation | 22.48 | 0.11 | 357 |
| PF method without joint limits | 12.69 | 0.06 | / |
| PF method by numerical optimization approach | 46,590 | 230 | / |
| Calculation time of 200 | Calculation time per | No. of iterations | |
|---|---|---|---|
| 20.79 | 0.10 | 305 | |
| 22.48 | 0.11 | 357 | |
| 12.69 | 0.06 | / | |
| 46,590 | 230 | / |
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