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

Table 1

Performance indicators for the models.

	Velocity	Velocity-load	Velocity-temperature-load
Fitness	0.8732	0.9418	0.9783
RMSE	35.25	24.16	6.103
RMSPE	0.1792	0.1077	0.02312