Neural Network Results

test_result_ISO_20230215_115048

The figure is presented in the original paper.

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	4.469	2.321	4.087	1.770	0.537	0.725	0.308	2.031
RTB-M	4.241	18.752	5.133	15.154	1.472	1.267	0.399	6.631
RTB-P	4.228	22.127	6.906	14.283	0.774	1.263	0.302	7.126

test_result_20230215_114631

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.640	0.622	1.130	1.005	0.582	0.582	0.270	0.690
RTB-M	0.681	9.333	14.683	26.750	2.903	2.558	0.474	8.197
RTB-P	0.685	8.711	15.019	17.222	0.665	0.861	0.311	6.210

test_result_20230215_114651

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.797	2.050	1.292	0.644	0.363	0.907	0.345	0.914
RTB-M	1.352	15.636	11.550	28.450	2.594	0.936	0.312	8.690
RTB-P	1.349	16.280	13.299	19.703	0.294	1.569	0.411	7.558

test_result_20230215_114701

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.715	0.853	0.802	0.430	0.449	0.458	0.162	0.553
RTB-M	0.527	20.604	2.740	19.488	0.766	0.368	0.425	6.417
RTB-P	0.529	23.143	2.922	19.962	1.262	1.642	0.298	7.108

test_result_20230215_114712

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	1.073	2.059	2.215	1.716	0.617	0.653	0.294	1.233
RTB-M	1.223	13.121	9.500	10.143	1.680	1.049	1.099	5.402
RTB-P	1.311	6.922	12.097	11.319	0.947	0.645	0.385	4.804

test_result_20230215_114716

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.798	1.131	0.847	0.665	0.523	1.110	0.174	0.750
RTB-M	1.123	12.071	17.457	9.565	2.331	1.771	0.868	6.455
RTB-P	1.129	11.727	17.817	8.100	0.891	0.894	0.406	5.852

test_result_20230215_114729

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.590	1.083	1.583	1.107	0.511	1.305	0.579	0.965
RTB-M	0.688	19.077	19.684	12.277	2.145	0.739	0.932	7.935
RTB-P	0.693	3.578	18.215	3.841	0.713	1.311	0.254	4.087

test_result_20230215_114751

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.641	1.376	0.972	0.661	0.644	0.424	0.242	0.709
RTB-M	0.300	16.764	8.183	22.420	2.797	1.754	0.711	7.561
RTB-P	0.303	15.094	6.102	14.953	0.883	0.838	0.321	5.499

test_result_20230215_114802

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.694	1.631	0.800	0.902	0.661	0.612	0.315	0.802
RTB-M	0.972	11.497	6.922	19.707	3.480	1.689	0.741	6.430
RTB-P	0.969	14.113	3.935	10.817	0.792	1.894	0.391	4.701

test_result_20230215_114808

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.860	0.837	0.735	0.667	0.395	0.915	0.311	0.675
RTB-M	0.518	26.235	4.810	10.706	2.042	1.837	0.228	6.625
RTB-P	0.514	17.902	5.013	11.939	1.241	0.430	0.444	5.355

test_result_20230215_114813

Root Mean Square Error [Nm]

	RMS Axis 1 [Nm]	RMS Axis 2 [Nm]	RMS Axis 3 [Nm]	RMS Axis 4 [Nm]	RMS Axis 5 [Nm]	RMS Axis 6 [Nm]	RMS Axis 7 [Nm]	RMS All [Nm]
NN	0.676	1.214	0.586	0.415	0.199	0.840	0.121	0.579
RTB-M	0.920	29.795	18.070	4.610	2.643	0.968	0.346	8.193
RTB-P	0.921	15.388	16.343	5.142	0.846	2.163	0.305	5.873