Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion

Table 2

Estimated joint angles, calculated end-effecter coordinates, and mean square errors for well-posed problem.

	Joint angles (${}^{°}$) ($\theta$ 1, $\theta$ 2, $\theta$ 3)	End-effector coordinates (x, y)	MSE of end-effector coordinates
1	(15.56, 163.07, 189.15)	(88.61, 11.40)	4.23
2	(38.55, 153.58, 175.06)	(82.56, 28.75)	2.86
3	(42.80, 166.39, 173.72)	(75.84, 46.69)	2.70
4	(44.49, 176.89, 178.63)	(66.89, 60.14)	3.07
5	(45.67, 184.19, 181.96)	(58.85, 67.98)	1.39
6	(47.29, 194.13, 186.55)	(45.96, 76.19)	2.00
7	(64.68, 190.92, 168.88)	(33.22, 83.25)	2.77
8	(73.66, 194.68, 169.71)	(15.52, 88.13)	0.51