Table 5.

Comparative results of inverse kinematics problem.

Algorithm	EOSMA	SMA	EO	MRFO	MPA	PFA	FPA	DE
Worst	7.85E−16	3.09E−02	7.99E−07	9.92E−07	4.28E−07	2.66E−07	5.99E−02	9.93E−07
Mean	2.64E−17	9.57E−04	2.45E−08	1.37E−07	7.75E−08	5.73E−09	6.57E−03	2.97E−07
Best	0.00E+00	4.17E−05	0.00E+00	0.00E+00	1.43E−08	0.00E+00	3.26E−12	5.00E−14
Std	9.93E−17	3.27E−03	1.06E−07	2.27E−07	6.73E−08	3.43E−08	9.19E−03	2.80E−07
Time(s)	0.0567	0.5382	0.0649	0.1302	0.1284	0.0812	1.2808	0.2809

Algorithm	GBO	TLBO	HHO	IGWO	PSOGSA	CODE	MTDE	SASS
Worst	1.10E−11	2.42E−03	3.99E−02	1.35E−02	3.13E−13	2.76E−01	6.15E−03	1.01E−03
Mean	2.54E−13	2.23E−04	1.64E−03	2.84E−03	1.57E−13	5.79E−02	1.07E−03	1.99E−04
Best	0.00E+00	9.12E−09	9.03E−12	3.86E−05	4.37E−14	3.11E−03	1.27E−05	7.04E−11
Std	1.48E−12	4.56E−04	4.54E−03	3.26E−03	6.78E−14	5.71E−02	1.16E−03	2.28E−04
Time(s)	0.3058	1.6861	1.7444	5.5963	0.2084	0.4410	2.1214	1.2234

The optimal values are shown in bold.