The Inverse Solution Algorithm and Trajectory Error Analysis of Robotic Arm Based on MQACA-RBF Network

Table 3

Comparison of inverse solutions of ZrARM robotic arm point A and point B (°):B-point inverse solution result comparison.

	True value	ACA	QACA	RBF	MQACA-RBF
θ1	−0.40893	−0.41000	−0.39114	−0.45849	−0.42937
θ2	−1.48010	−0.22064	0.03381	−1.48780	−1.50210
θ3	0.09107	3.80100	3.50300	0.04151	0.06909
θ4	0.98341	1.50450	1.23030	1.04950	1.00130
θ5	1.47510	1.50030	1.32880	1.57430	1.51030
θ6	1.96680	2.06570	3.03530	2.09910	2.01770