ResearchBenchmarksCartesian Space Trajectory Tracking on PUMA 500 10s trajectory execution (test)Cartesian Space Trajectory Tracking on PUMA 500 10s trajectory execution (test)Follow1.5X RMSE (mm)ESOR-QP1.4441.8222.22.578Dec 4, 2025Evaluation resultsMethodMethodLinksX RMSE (mm)Y RMSE (mm)Z RMSE (mm)ESOR-QPGravity Compensation M...Gravity Compensation Mode=Zero-gravity2025.121.50.74ESOR-QPGravity Compensation M...Gravity Compensation Mode=Non-zero-gravity2025.122.32.415.5AdaptiveGravity Compensation M...Gravity Compensation Mode=Non-zero-gravity2025.122.92.116.1