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Joint Torque Tracking on dVRK Sinusoid Trajectory

0.48Mean Error

PID with Computed Torque Feedforward

Updated 1mo ago

Evaluation Results

Method	Links
PID with Computed Torque Feedforward 2026.03		0.48	0.38	0.62	3.57
PID with Computed Torque Feedforward 2026.03		0.48	0.37	0.61	3.05
PID with dVRK Software Gravity Compensation 2026.03		0.49	0.38	0.62	2.06
PID with dVRK Software Gravity Compensation 2026.03		0.49	0.38	0.61	2.1
PID only 2026.03		0.49	0.38	0.62	2.93
PID only 2026.03		0.49	0.38	0.61	2.42
PID with Computed Torque Feedforward 2026.03		0.7	0.53	0.88	5.18
PID only 2026.03		0.7	0.52	0.87	4.05
PID with dVRK Software Gravity Compensation 2026.03		0.71	0.53	0.88	2.78