Applications of Artificial Intelligence Techniques to Enhance Sustainability of Industry 4.0: Design of an Artificial Neural Network Model as Dynamic Behavior Optimizer of Robotic Arms

Table 5

Neural network training results for RRR arm.

Number of neurons	25	20	15
Number of iterations	10	18	24
Number of training samples	700	700	700
Number of validation samples	150	150	150
Number of testing samples	150	150	150
Training mean square error	0.24	0.65	0.48
Validation mean square error	0.069	0.24	0.24
Test mean square error	0.26	0.31	0.22
Total mean square error	0.19	0.47	0.35
Training regression	0.8173	0.702	0.4985
Validation regression	0.4143	0.6003	0.1689
Test regression	0.4905	0.4245	0.473
Total regression	0.6648	0.6129	0.409