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