Table 5 Results of using DWT, two and three scale SLT with MLP-ANN applied for labvolt 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 15 IP/6 OP | 1190 | 3.07 10− 08 | 1178.4500 s. | 100% |
2 | SLT/2 SCALE 9 IP/6 OP | 290 | 2.47 10− 12 | 192.403 s. | 100% |
3 | SLT/3 SCALE 9 IP/6 OP | NOT USED | NOT USED | NOT USED | NOT USED |
