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

Table 4

Experimental training results of the BPNN model for AACMM.

Experiment number	HL	NN	LR	GA	Epoch [times]	Training time [seconds]	Maximum error [mm]	Average error [mm]
	2		0.01		100	176	0.3199	0.0293
	2		0.01		704	625	0.1735	0.0201
	1		0.01		911	1662	0.4059	0.0503
	2		0.01		1000	404	0.1428	0.0149