Research Article
A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application
Table 3
Free joints of the manipulator PA10 synthesized with scheme (
24) with different neural solutions
| | Joint (rad) | Scheme | | | |
| | | GNN | 0 | -0.001243 | 0.001243 | | ZNN | 0 | -4.98251e-05 | 4.98251e-05 | | | TTZNN | 0 | -5.21435e-09 | 5.21435e-09 |
| | | GNN | -0.785398 | -0.886456 | 0.101058 | | ZNN | -0.785398 | -0.785275 | 1.23249e-04 | | | TTZNN | -0.785398 | -0.785398 | 5.84480e-09 |
| | | GNN | 0 | 0.087746 | 0.087746 | | ZNN | 0 | -5.58358e-05 | 5.58358e-05 | | | TTZNN | 0 | -1.30718e-08 | 1.30718e-08 |
| | | GNN | 1.57080 | 1.56293 | 0.007871 | | ZNN | 1.57080 | 1.57078 | 1.18503e-05 | | | TTZNN | 1.57080 | 1.57080 | 5.74257e-10 |
| | | GNN | 0 | -0.009014 | 0.009014 | | ZNN | 0 | 6.14588e-06 | 6.14588e-06 | | | TTZNN | 0 | 1.21890e-09 | 1.21890e-09 |
| | | GNN | 1.21460 | -0.796231 | 0.010832 | | ZNN | 1.21460 | -0.785364 | 3.41855e-05 | | | TTZNN | 1.21460 | -0.785398 | 8.99498e-09 |
| | | GNN | 0 | 0 | 0 | | ZNN | 0 | 0 | 0 | | | TTZNN | 0 | 0 | 0 |
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