Table 3 Error analysis of end-effector computation times for four configurations.

From: Innovative inverse kinematics algorithm for 6-DOF robotic manipulators with offset wrists

Configuration

3–1

3–2

4–1

4–2

5

6

Mean(s)

0.00607

0.00532

0.00545

0.00547

0.00473

0.00391

Std

0.00449

0.00292

0.00274

0.00262

0.00306

0.00229

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