An Optimized RBF Neural Network Based on Beetle Antennae Search Algorithm for Modeling the Static Friction in a Robotic Manipulator Joint

Figure 8

Predicted torque results of data samples: (a) predicted and practical static friction by RBFNN; (b) predicted errors by RBFNN; (c) predicted and practical static friction by BAS-RBFNN; (d) predicted errors by BAS-RBFNN; (e) predicted and practical static friction by velocity-load-temperature model; (f) predicted errors by velocity-load-temperature model.

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