Applications of Artificial Intelligence Techniques to Enhance Sustainability of Industry 4.0: Design of an Artificial Neural Network Model as Dynamic Behavior Optimizer of Robotic Arms

Table 2

GA optimization results for RRR arm [11].

Trial	1	2	3	4	Mean
θ1	0	0	45	90
θ2	45	30	−15	15
θ3	−45	−30	30	30
dx	0	1	1	1
dy	0	1	1	1
dz	1	1	0	1
θc2	85	85	10	85	66.25
θc3	15.2	13.6	10	12.56	12.84
F for gimbal equipped arm	80.31	15.06	50.49	21.89
F for simple arm	10.47	1.11	2.76	1.16