Table 1.

Mean Absolute Percentage Error for both models and robots.

MAPE (%)
	Robot 1		Robot 2
	ANN	Trad	ANN	Trad
D${}_1$	55.77	54.33	30.45	38.49
D${}_2$	67.06	79.01	25.56	40.09
D${}_3$	66.64	76.20	21.05	29.24
D${}_4$	50.71	66.46	12.68	23.44
D${}_5$	44.35	51.74	9.50	17.17
D${}_6$	47.61	51.12	11.76	21.54
D${}_7$	46.29	56.80	21.68	39.24
D${}_8$	58.09	55.37	32.03	42.45