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. Author manuscript; available in PMC: 2017 Dec 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Jun 9;21(6):2635–2646. doi: 10.1109/TMECH.2016.2579620

Fig. 12.

Fig. 12

Tracking errors and control inputs (a) Experiment (1): [xd,yd,θd]T = [−100μm, 100μm,0°]T, (b) Experiment (2): [xd,yd, θd]T = [100μm, 100μm,10°]T, and (c) Experiment (3): [xd,yd,θd]T = [100μm, 100μm, −10°]T. Note: αd is determined from the desired position and orientation using Eq. (11).