Joint Position Tracking on dVRK Sinusoid Trajectory
0.44Mean ErrorPID with Computed Torque Feedforward
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| PID with Computed Torque FeedforwardJoint Idx=22026.03 | 0.44 | 0.22 | 0.49 | 1.07 | |
| PID with Computed Torque FeedforwardJoint Idx=12026.03 | 0.46 | 0.24 | 0.52 | 0.94 | |
| PID with dVRK Software Gravity CompensationJoint Idx=22026.03 | 0.66 | 0.3 | 0.73 | 1.14 | |
| PID with dVRK Software Gravity CompensationJoint Idx=12026.03 | 0.68 | 0.3 | 0.74 | 1.13 | |
| PID onlyJoint Idx=12026.03 | 0.7 | 0.35 | 0.78 | 1.27 | |
| PID onlyJoint Idx=22026.03 | 0.73 | 0.46 | 0.86 | 1.6 | |
| PID with Computed Torque FeedforwardJoint Idx=32026.03 | 0.78 | 0.4 | 0.88 | 1.57 | |
| PID with dVRK Software Gravity CompensationJoint Idx=32026.03 | 1.25 | 0.46 | 1.33 | 2.05 | |
| PID onlyJoint Idx=32026.03 | 1.35 | 1.02 | 1.7 | 3.11 |