Table 2.
Performance Evaluation.
| Unit | TP | TN | FP | FN | Precision | Recall | F1-Score |
|---|---|---|---|---|---|---|---|
| CB | 232 | 3938 | 7 | 10 | 0.0.9707 | 0.958 | 0.964 |
| RT | 193 | 3199 | 9 | 8 | 0.955 | 0.960 | 0.957 |
| SR | 22 | 3002 | 2 | 0 | 0.916 | 1 | 0.956 |
| PR | 22 | 3002 | 1 | 1 | 0.956 | 0.956 | 0.956 |
| P&P S | 484 | 2965 | 21 | 20 | 0.958 | 0.960 | 0.959 |
| P&P U | 484 | 2967 | 29 | 15 | 0.943 | 0.969 | 0.956 |
| P&P L | 484 | 2964 | 27 | 22 | 0.947 | 0.956 | 0.951 |
| CTS | 75 | 3199 | 3 | 3 | 0.961 | 0.961 | 0.961 |
| SRS | 231 | 3374 | 8 | 10 | 0.966 | 0.958 | 0.962 |
CB = Conveyor Belt; RT = Rotating Table; SR = Sliding Robot; PR = Production Robot; P&P S = Pick & Place Robot S Axis; P&P U = Pick & Place Robot U Axis; P&P L = Pick & Place Robot L Axis; CTS = Container Tray Slider; SRS = Sliding Robot Slider.