Open Access

Table 4

Parameters of the ellipsoid resulting from the planning of the 4th trajectory with duration 0.55 s, expressed with respect to the tool frame.

Axis Eigenvector Length

x y z ()
Red axis 0.4262 −0.0825 −0.9008 1.7629
Green axis −0.8127 0.4025 −0.4214 0.5726
Blue axis 0.3973 0.9117 0.1045 0.6608

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