Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Table 3

Orthogonal array of the inverse kinematics solver.

Exp. number	𝑆	𝑁	𝑃𝑐	𝑃𝑚
1	100	50	0.6	0.015
2	100	75	0.7	0.03
3	100	100	0.8	0.05
4	200	50	0.7	0.05
5	200	75	0.8	0.03
6	200	100	0.6	0.015
7	300	50	0.8	0.03
8	300	75	0.6	0.015
9	300	100	0.7	0.05