B. Second Part of Each Chromosome

The second part of each chromosome denotes the sequence of joint configurations corresponding to the first part of the chromosome, where binary encoding is implemented. Since eight special joint configurations corresponding to one waypoint are considered, each joint configuration is coded by one byte of three bits. Figure 6 represents the eight categories of bytes, where *CONim*(*i* = 1, ..., *n*; *m* = 1, ..., 8), also shown in Equation (20), and it denotes the *m*th joint configuration corresponding to the *i*th waypoint.

$$
\mathcal{O} \mathcal{O} \lrcorner \mathcal{V} = \begin{bmatrix}
\text{CON}\_{11} & \text{CON}\_{11} & \dots & \text{CON}\_{18} \\
\text{CON}\_{21} & \text{CON}\_{21} & \dots & \text{CON}\_{28} \\
& & \dots \\
\text{CON}\_{n1} & \text{CON}\_{n1} & \dots & \text{CON}\_{n8}
\end{bmatrix} \cdot \tag{20}
$$
