Joint Torque Tracking on dVRK Sinusoid Trajectory
0.48Mean ErrorPID with Computed Torque Feedforward
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| PID with Computed Torque FeedforwardJoint Idx=12026.03 | 0.48 | 0.38 | 0.62 | 3.57 | |
| PID with Computed Torque FeedforwardJoint Idx=22026.03 | 0.48 | 0.37 | 0.61 | 3.05 | |
| PID with dVRK Software Gravity CompensationJoint Idx=12026.03 | 0.49 | 0.38 | 0.62 | 2.06 | |
| PID with dVRK Software Gravity CompensationJoint Idx=22026.03 | 0.49 | 0.38 | 0.61 | 2.1 | |
| PID onlyJoint Idx=12026.03 | 0.49 | 0.38 | 0.62 | 2.93 | |
| PID onlyJoint Idx=22026.03 | 0.49 | 0.38 | 0.61 | 2.42 | |
| PID with Computed Torque FeedforwardJoint Idx=32026.03 | 0.7 | 0.53 | 0.88 | 5.18 | |
| PID onlyJoint Idx=32026.03 | 0.7 | 0.52 | 0.87 | 4.05 | |
| PID with dVRK Software Gravity CompensationJoint Idx=32026.03 | 0.71 | 0.53 | 0.88 | 2.78 |