Table 1.

Normalized interpolation (int) and forward dynamics (fwd. dyn.) errors for each task-constraint of the testing point-to-point tasks.

Task	intT (×10−16)		fwd. dyn.T (×10−4)
	Pos	Vel	Pos	Vel
1	1.77	2.91	0.23	1.80
2	0.99	3.77	1.14	4.50
3	0.99	0.75	1.34	1.27
4	4.51	0.97	0.96	8.45
5	3.78	2.45	0.22	4.20
6	0.91	1.70	0.64	7.23
7	1.59	3.66	0.48	1.91
8	1.76	2.41	0.86	2.87
9	5.59	2.02	1.13	6.47
10	4.53	6.56	1.05	7.93
11	0	2.98	3.38	51.3
12	0.88	0.25	3.62	2.38
13	2.21	5.39	1.37	28.9

The normalization factors are ||e_PM|| = 5.02 rad and ||e_VM|| = 5.70 rad/s for position and velocity errors, respectively; the rationale behind these factors is discussed in section 3.1. The errors are evaluated at the time of the target constraint T. The expressions pos and vel identify position and velocity constraints, respectively.