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. 2022 Jun 8;12:9421. doi: 10.1038/s41598-022-13516-3

Table 6.

Comparative results of inverse kinematics problem.

Algorithm Swarm size Position error (MSE) Algorithms Swarm size Position error (MSE)
PSO9 300 2.1162E−04 WOA75 50 9.5460E−04
ABC9 100 1.1105E−06 SMA 50 9.5688E−04
FA9 50 1.4547E−05 EO 50 2.4514E−08
QPSO9 150 6.9347E−13 EOSMA 50 2.6428E−17
GWO74 50 9.4745E−08