[Retracted] AI Based Gravity Compensation Algorithm and Simulation of Load End of Robotic Arm Wrist Force

Table 3

The coupling error of F/T sensor.

Applied force/moment	Fx (%)	Fy (%)	Fz (%)	Mx (%)	My (%)	Mz (%)
Fx	0.75	0.19	1.43	0.23	0.75	1.04
Fy	0.93	0.75	1.81	0.32	0.12	1.33
Fz	0.86	0.43	0.75	0.76	0.74	0.29
Mx	0.73	0.22	1.51	0.75	1.31	0.14
My	0.18	0.27	0.81	0.16	0.75	0.36
Mz	0.61	0.71	0.63	0.57	0.72	0.75