Semiparametric Deep Learning Manipulator Inverse Dynamics Modeling Method for Smart City and Industrial Applications

Figure 7

Joint torque prediction comparison curves. (a) Axis 1 torque. (g) Axis 1 torque error. (b) Axis 2 torque. (h) Axis 2 torque error. (c) Axis 3 torque. (i) Axis 3 torque error. (d) Axis 4 torque. (j) Axis 4 torque error. (e) Axis 5 torque. (k) Axis 5 torque error. (f) Axis 6 torque. (l) Axis 6 torque error.

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(b)

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(e)

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(g)

(h)

(i)

(j)

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(l)