Research Update by Fraunhofer IML
The Fraunhofer IML research team has just presented a paper  at the IEEE CASE 2023 conference . In their work they evaluated most of the available open source trajectory planners for static manipulators with the intention of finding a to find a trajectory planner that generates a robot motion that is optimal for human-robot collaboration. for human-robot collaboration.
To quantify the evaluated planners, the Fraunhofer IML team derived eight metrics from psychological background research to psychological background research to assess the quality of each trajectory planner. In addition to the paper itself, the researchers also published the data for all 74 trajectory planners and combinations of trajectory planners on Zenodo  to allow other researchers to filter the given metrics in a way that best suits their use case, in a way that best suits their use case.