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. Author manuscript; available in PMC: 2015 Aug 6.
Published in final edited form as: IEEE Trans Robot. 2015 Aug 4;31(4):1044–1053. doi: 10.1109/TRO.2015.2452776

Fig. 6.

Fig. 6

Motor position feedback control scheme for the 4-DOF serial arm. The 3-D target injection site is updated from the US at 20 Hz. Plants 1–3 have different rotational inertias (I1 = 9057, I2 = 2000, I3 = 700 g · cm2)