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