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

Table 4

Performance comparison of four methods.

Method	Average number of iterations	Mean solution time (ms)	Proportion of nonconvergence beyond the maximum number of iterations (%)
	161.63	5.254	3.9
DLS	187.34	6.918	5.3
GDLS	182.53	6.546	3.3
E-GDLS	4.23	0.229	0.17