Table 7.

Optimization results take into account the posture of the end-effector.

Algorithm	EOSMA	SMA	EO	MRFO	MPA	PFA	FPA	DE
Worst	5.55E−17	0.242342	0.289362	0.26697	9.71E−07	0.23774	0.230746	1.28E−12
Mean	7.79E−18	0.043938	0.02786	0.009398	4.55E−07	0.020017	0.037691	1.04E−13
Best	0.00E+00	0.001052	5.82E−11	1.99E−16	4.01E−08	2.95E−13	6.58E−05	5.26E−16
Std	1.21E−17	0.050096	0.047801	0.035825	2.54E−07	0.044404	0.045514	1.95E−13
Time (s)	0.360804	1.680179	2.207461	1.395682	0.424897	2.057285	9.616893	0.896265

Algorithm	GBO	TLBO	HHO	IGWO	PSOGSA	CODE	MTDE	SASS
Worst	0.229208	0.053045	0.473011	0.101893	0.410281	0.117581	0.016585	8.09E−17
Mean	0.007624	0.004314	0.147295	0.0027	0.07595	0.027037	0.000283	5.35E−18
Best	0.00E+00	8.53E−11	0.005506	0.000123	1.76E−13	0.005138	1.85E−09	0.00E+00
Std	0.035906	0.009956	0.10784	0.010879	0.091469	0.0198	0.002008	1.06E−17
Time (s)	4.995488	5.640442	8.849817	22.94664	12.72971	7.604563	2.485424	0.61688

The optimal values are shown in bold.