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 6

Neural network training results for RPR arm.

Number of neurons	25	20	15
Number of iterations	14	32	37
Number of training samples	700	700	700
Number of validation samples	150	150	150
Number of testing samples	150	150	150
Training mean square error	0.89	0.9	0.61
Validation mean square error	0.95	0.74	0.97
Test mean square error	0.59	0.81	0.51
Total mean square error	0.82	0.84	0.62
Training regression	0.9449	0.9503	0.7899
Validation regression	0.8929	0.9076	0.877
Test regression	0.7317	0.9149	0.7060
Total regression	0.8832	0.9317	0.7762