[Retracted] An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems

Table 3

Results of ANFIS models (RMSE = rad, MSE = rad2).

ANFIS	SCM				FCM				GP
Joint	Training RMSE	Testing RMSE	Testing MSE	Testing R^2	Training RMSE	Testing RMSE	Testing MSE	Testing R^2	Training RMSE	Testing RMSE	Testing MSE	Testing R^2
Θ1	0.1257	0.1272	0.01618	0.9888	0.1596	0.1469	0.0215	0.98551	0.1978	0.1904	0.0361	0.97532
Θ2	0.2700	0.2720	0.0740	0.906	0.2631	0.0745	0.2729	0.902	0.2539	0.24468	0.05988	0.96412
Θ3	0.3105	0.5477	0.2999	0.77059	0.2772	0.5033	0.25331	0.82261	0.11781	0.3547	0.1258	0.9171
Θ4	0.3440	0.3434	0.1179	0.92265	0.3298	0.3255	0.10598	0.9288	0.2753	0.26149	0.06837	0.9587
Θ5	0.04961	0.2159	0.046625	0.97171	0.2298	0.22503	0.06266	0.96117	0.2699	0.2261	0.051121	0.96123