Research Article
The Inverse Solution Algorithm and Trajectory Error Analysis of Robotic Arm Based on MQACA-RBF Network
Table 2
Comparison of inverse solutions of the ZrARM robotic arm point A and point B (°): A-point inverse solution result comparison.
| | True value | ACA | QACA | RBF | MQACA-RBF |
| θ1 | −0.47170 | −0.47080 | −0.38047 | −0.41524 | −0.41825 | θ2 | −1.54250 | −0.12161 | −0.20561 | −1.54780 | −1.55540 | θ3 | 0.02829 | 3.59860 | 3.75210 | 0.08476 | 0.08104 | θ4 | 0.99840 | 1.59010 | 1.58180 | 0.98012 | 0.98327 | θ5 | 1.49760 | 1.45150 | 0.87234 | 1.47020 | 1.48250 | θ6 | 1.99680 | −2.86380 | 2.28000 | 1.96020 | 1.97840 |
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