Joint Position Tracking on dVRK Sinusoid Trajectory
0.44Mean Error
PID with Computed Torque Feedforward
Updated 1mo ago
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| 0.44 | 0.22 | 0.49 | 1.07 | ||
| 0.46 | 0.24 | 0.52 | 0.94 | ||
| 0.66 | 0.3 | 0.73 | 1.14 | ||
| 0.68 | 0.3 | 0.74 | 1.13 | ||
2026.03 | 0.7 | 0.35 | 0.78 | 1.27 | |
2026.03 | 0.73 | 0.46 | 0.86 | 1.6 | |
| 0.78 | 0.4 | 0.88 | 1.57 | ||
| 1.25 | 0.46 | 1.33 | 2.05 | ||
2026.03 | 1.35 | 1.02 | 1.7 | 3.11 |