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 3

GA optimization results for RPR arm [11].

Trial	1	2	3	4	Mean
θ1	0	30	45	90
d2	0.5	1	1	0.5
θ3	30	15	45	−30
dx	1	0	1	1
dy	1	1	1	1
θc	49.10	61.37	35.8	85	57.81
F for gimbal equipped arm	1.09	0.81	1.97	1.41
F for simple arm	0.97	0.76	1.41	1.29