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

Table 3

Comparative analysis of prediction performance of different joint forces.

		Axis 1	Axis 2	Axis 3	Axis 4	Axis 5	Axis 6
Cross average RMSE	RBD	2.5282	2.5714	2.3313	0.6506	0.6098	0.4345
	NDL	2.2387	2.4535	1.7682	0.3891	0.4455	0.4190
	SDL	1.5679	1.7430	1.1861	0.3400	0.4210	0.3872
Range of measured torque		42.1816	98.1207	49.3103	5.7766	4.4944	6.6976
Ratio	RBD	0.0599	0.0262	0.0473	0.1126	0.1357	0.0649
	NDL	0.0531	0.0250	0.0359	0.0674	0.0991	0.0626
	SDL	0.0372	0.0178	0.0241	0.0589	0.0937	0.0578