Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems

Table 1

Comparison of performance of controllers of sinusoidal motion.

	RMSE (mm)
	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)