A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator

Table 6

SSE comparisons.

Strategy	Terminal trajectory	Joints
		1	2	3	4	5	6
PD strategy	1841.900 0	0.131 4	0.109 3	0.122 3	59.671 4	0.108 0	59.584 9
Hierarchical structure strategy	1221.200 0	0.078 2	0.085 7	0.095 9	45.087 5	0.062 2	45.022 8
Improvement	33.70%	40.49%	21.59%	21.58%	24.44%	42.41%	24.44%