Research Article
A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application
Table 2
Position profiles of the mobile base when its end-effector tracks a circle path using different neural models.
| Variate | Scheme | = 0 | = 10s | Position error |
| | GNN | 0 | 0.081125 | 0.081125 | (m) | ZNN | 0 | -9.06238e-05 | 9.06238e-05 | | TTZNN | 0 | -4.85327e-09 | 4.85327e-09 |
| | GNN | 0 | -0.050597 | 0.050597 | (m) | ZNN | 0 | 1.37810e-05 | 1.37810e-05 | | TTZNN | 0 | 7.45148e-09 | 7.45148e-09 |
| | GNN | 0 | -0.169099 | 0.169099 | (rad) | ZNN | 0 | -1.67426e-06 | 1.67426e-06 | | TTZNN | 0 | 4.97184e-09 | 4.97184e-09 |
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