The type labeled equation in Table 5-5 refers to methods that solve the tricircular, trinodal sextic coupler curve to find a linkage that will generate an entire coupler curve that closely approximates a set of desired points on the curve.
The type labeled optimized in Table 5-5 refers to an iterative optimization proce- dure that attempts to minimize an objective function that can be defined in many ways, such as the least-squares deviation between the calculated and desired coupler point po-