Table 4 Results of using DWT, two and three scale SLT with MLP-ANN applied for planar robot arm system (two faulty joints).
From: Real time fault diagnosis in industrial robotics using discrete and slantlet wavelet transformations
Method | No. of Iterations | Performance (MSE) | Time of Process | Accuracy | |
|---|---|---|---|---|---|
1 | DWT 10 IP / 4 OP | 71 | 2.23 × 10− 05 | 79.486043 s. | 100% |
2 | SLT/2 SCALE 6 IP/ 4 OP | 29 | 4.6793 × 10–15 | 31.403847 s. | 100% |
3 | SLT/3 SCALE 6 IP/ 4 OP | NOT USED | NOT USED | NOT USED | NOT USED |
