Modeling and Error Compensation of Robotic Articulated Arm Coordinate Measuring Machines Using BP Neural Network

Table 3

Prediction simulation results for optimization.

Simulation number	HL	NN	TF	GA	Epoch [times]	Training time [seconds]	Maximum error [mm]	Average error [mm]
	1	100	LM		1000	922	2.5544	0.2452
	1	200	LM		1000	2298	0.6351	0.0967
	1	300	LM		1000	4161	0.5994	0.0629
	2		LM		738	43	17.1128	2.6204
	2		LM		1000	1289	0.4888	0.0833
	2		LM		582	6431	0.2071	0.0315
	2		LM		1000	2177	0.5525	0.0467
	2		LM		150	2769	0.7598	0.0497
	2		LM		1000	4237	6.4022	0.6042
	2		LM		1000	4237	4.3345	0.6983
	2		ND		1000	24	633.8425	119.36
	2		DX		119	3	383.9885	105.247