Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion

Table 3

Estimated joint angles, calculated end-effector coordinates, and errors for ill-posed problem with no solution.

	Joint angles (${}^{°}$) ($\theta$ 1, $\theta$ 2, $\theta$ 3)	End-effector coordinates (x, y)	MSE of end-effector coordinates
1	(32.20, 181.72, 172.81)	(77.07, 46.23)	13.34
2	(37.13, 181.99, 175.97)	(71.74, 54.29)	20.23
3	(41.25, 181.77, 178.91)	(66.81, 60.29)	28.29
4	(44.54, 181.36, 181.13)	(62.71, 64.53)	37.33
5	(45.88, 185.27, 182.78)	(57.37, 69.15)	0.52
6	(57.85, 185.84, 186.30)	(43.69, 78.30)	1.36
7	(65.69, 183.78, 185.06)	(30.87, 84.35)	0.24
8	(75.49, 187.07, 180.73)	(14.91, 88.59)	0.72