D. Example of Chromosome Depiction

In this example, a space robot is constrained to visit five waypoints, and a feasible chromosome is shown in Figure 7, where the waypoint sequence is {5, 1, 2, 3, 4} according to the first part of the chromosome. By the second part of the chromosome, the encoding of the joint configuration corresponding with the 5th waypoint is 001, namely *CON*<sup>52</sup> in Equation (20) according to Figure 6. Similarly, encoding the joint configurations corresponding to the 1st, 2nd, 4th, and 3rd waypoints are *CON*14, *CON*21, *CON*42, and *CON*35, respectively. The decimal number of the third part of the chromosome is 325, 588, and the corresponding value within the range of [−*π*, 0) ∪ (0, *π*] is given by: <sup>−</sup>*<sup>π</sup>* <sup>+</sup> 325, 588 <sup>∗</sup> *<sup>π</sup>* <sup>−</sup> (−*π*) <sup>220</sup> <sup>−</sup> <sup>1</sup> <sup>=</sup> <sup>−</sup>1.1906.

**Figure 7.** Feasible IGA chromosome in the example.
