Two Optimized General Methods for Inverse Kinematics of 6R Robots Based on Machine Learning

Table 3

IK results of the optimized method based on 4 arbitrary data points.

ID	Target position (m)			Joint angles (deg)						Predicted	(mm)	Iterations
	X	Y	Z
1	−0.569	−1.219	2.848	−17	−90	−170	66	−32	9	59	0.044	4
2	2.265	−0.364	2.044	72	−53	173	12	140	−97	65	0.035	5
3	1.522	−1.296	−0.424	54	−70	76	175	19	122	79	0.043	9
4	−2.397	0.168	1.698	−130	17	168	−126	−94	160	53	0.042	4