Table 3 RMSE value comparison of the...

Table 3

RMSE value comparison of the angular variations of the 14 DOFs in the dual -arm tracking the same optimized path by 3D a* heuristic algorithm before and after optimization

	Mobile platform		Left arm						Right arm
14 DOFs	Left wheel	Right wheel	1	2	3	4	5	6	1	2	3	4	5	6
RMSE values	0.1275	0.1233	0.0881	0.0556	0.0153	0.0991	0.0668	0.1381	0.0802	0.0863	0.0916	0.1074	0.0956	0.0533
RMSE values (Optimized)	0.1133	0.0683	0.0664	0.0494	0.0498	0.0866	0.0825	0.1424	0.0577	0.0424	0.0308	0.0694	0.0380	0.0304

	Mobile platform		Left arm						Right arm
14 DOFs	Left wheel	Right wheel	1	2	3	4	5	6	1	2	3	4	5	6
RMSE values	0.1275	0.1233	0.0881	0.0556	0.0153	0.0991	0.0668	0.1381	0.0802	0.0863	0.0916	0.1074	0.0956	0.0533
RMSE values(Optimized)	0.1133	0.0683	0.0664	0.0494	0.0498	0.0866	0.0825	0.1424	0.0577	0.0424	0.0308	0.0694	0.0380	0.0304

[ViewLarge]

Sharing Unavailable