A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network

Table 3

The parameter setting of model training.

No.	Parameter name	Parameter value
1	Number of samples	100
2	Number of validation samples	10
3	Network type	BP
4	Input layer	8
5	Hidden layer	4
6	Output layer	3
7	Learning rate	0.1
8	Training times	1000
9	Training function	Tan-sigmoid