Research Article
Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems
Table 1
Comparison of performance of controllers of sinusoidal motion.
| ā | RMSE (mm) | ā | Sync. error | Tracking error |
| PID without cross-coupling | 3.88 | 4.03 (L) | 6.92 (R) |
| PID-FC | 0.62 | 5.03 (L) | 5.32 (R) |
| LQR-FC | 0.63 | 1.66 (L) | 1.65 (R) |
|
|