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

Table 3

Comparison of prediction effects between BAS-RBFNN, RBFNN, and velocity-load-temperature model.

	RFBNN	BAS-RBFNN	Velocity-load-temperature model
Mean (Nm)	0.0029	0.0011	0.0058
Maximum (Nm)	0.008	0.0052	0.0142