Research Article
Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method
Table 3
NMSE comparison of each joint in different control strategies.
| NMSE (×10−3) | Case 1 (rad) | Case 2 (rad) | Joint 1 | Joint 2 | Joint 3 | Joint 1 | Joint 2 | Joint 3 |
| PID | 0.842 | 4.387 | 5.224 | 2.517 | 7.848 | 6.042 | PD synchronic | 0.955 | 2.282 | 2.897 | 1.338 | 3.635 | 4.055 | Adaptive backstepping | 0.225 | 1.512 | 2.199 | 0.301 | 2.167 | 2.552 |
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and is the total sampling instant.
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