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

Table 4

Comparison of coordinate and position errors (mm).

Coordinates	Error	ACA	QACA	RBF	MQACA-RBF
X	Biggest	1.46050	1.30880	0.22370	0.11588
	Minimum	0.00067	0.01779	0.00329	0.00016
	Average	0.17214	0.31905	0.13219	0.05269
Y	Biggest	0.92384	0.88523	0.28325	0.09689
	Minimum	0.00041	0.00989	0.00017	0.02250
	Average	0.15881	0.31308	0.05509	0.04109
Z	Biggest	0.99137	1.23370	0.15607	0.09947
	Minimum	0.00001	0.02201	0.04758	0.00231
	Average	0.27080	0.37015	0.06997	0.04306
Location	Biggest	1.46050	1.36330	0.36006	0.12036
	Minimum	0.01075	0.05686	0.04820	0.06407
	Average	0.48815	0.69687	0.17773	0.09144