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Table 3

DP solver parameters for trajectories 1–4. Planning times are related to the execution of the algorithm on a virtual machine with a single-threaded implementation.

Trajectory Waypoints (Ni) Length (mm) Slide resolution (mm) Duration (T) (s) Planning time (s)
1 1st to 2nd hole 10 288.5 13.2 0.55 27
2 2nd to 3rd hole 10 321.4 13.2 0.55 21
3 3rd to 4th hole 10 339.0 13.2 0.55 29
4 4th to 1st lateral hole 15 1060.0 13.2 0.55 24

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