Table 7 Comparison of the performance of the reference solutions in the intermediate layer of the task workspace.

Cases

\({F_1}\left( \circ \right)\)

\({F_2}\left( {\text{H}\text{z}} \right)\)

\({\bar {\theta }_1}\left( \circ \right)\)

\({\bar {\theta }_2}\left( \circ \right)\)

\({\bar {f}_1}\left( {\text{H}\text{z}} \right)\)

\({\bar {f}_2}\left( {\text{H}\text{z}} \right)\)

\({\delta _{{\theta _1}}}\left( \circ \right)\)

\({\delta _{{\theta _2}}}\left( \circ \right)\)

\({\delta _{{f_1}}}\left( {\text{H}\text{z}} \right)\)

\({\delta _{{f_2}}}\left( {\text{H}\text{z}} \right)\)