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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Dec 1;33(1):240–248. doi: 10.1109/TRO.2016.2623348

Fig. 10.

Fig. 10

Experimental results: (a) Sinusoidal tracking at 0.017 Hz frequency (RMSE value is 1.67°), (b) Sinusoidal tracking at 0.025 Hz frequency (RMSE value is 2.05°), (c) Sinusoidal tracking at 0.050 Hz frequency (RMSE value is 3.60°), (d) step input response with the time step of 30s and step size of 20° (upper) and time step of 30s and step size of 10° (lower), (e) Quasi-static tracking with both feedforward and feedback compensation from 0s to 300s (RMSE value is 1.86°) and only feedback compensation from 300s to 600s (RMSE value is 2.24°), and (f) Quasi-static tracking with only feedforward compensation applied from 0s to 300s (RMSE value is 8.19°) and only feedback compensation applied from 300s to 600s (RMSE value is 2.58°) [22].