ResearchBenchmarksJoint Space Trajectory Tracking on PUMA 500 10s trajectory execution (test)Joint Space Trajectory Tracking on PUMA 500 10s trajectory execution (test)Follow0.0013Joint 1 RMSE (rad)ESOR-QP0.001180.001990.00280.00361Dec 4, 2025Evaluation resultsMethodMethodLinksJoint 1 RMSE (rad)Joint 2 RMSE (rad)Joint 3 RMSE (rad)ESOR-QPGravity Compensation M...Gravity Compensation Mode=Zero-gravity2025.120.00130.00750.0024ESOR-QPGravity Compensation M...Gravity Compensation Mode=Non-zero-gravity2025.120.00410.02760.0076AdaptiveGravity Compensation M...Gravity Compensation Mode=Non-zero-gravity2025.120.00430.0270.0057