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

Table 2

Time delay of the three controllers of sinusoidal motion.

	Delay (sec)
PID without cross-coupling	0.37 (L)
	0.37 (R)
PID-FC	0.14 (L)
	0.28 (R)
LQR-FC	0.08 (L)
	0.02 (R)