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. 2017 Sep 1;4(3):261–273. doi: 10.1089/soro.2016.0056

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Copyright 2017, Mary Ann Liebert, Inc.

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FIG. 9. — Comparison of the steady-state error of the two feedback types used on the revolute joint under different load torque conditions. The height of the bars represents the averages of the RMS error across all the commanded preload levels during the last 5 s of each of each commanded angle. The average error with encoder feedback was always less than with inductance feedback. This difference was statistically significant (p < .05) in all cases except when 0.65 Nm and the desired preload was 15 N or higher. Color images available online at www.liebertpub.com/soro

Inline graphic — Comparison of the steady-state error of the two feedback types used on the revolute joint under different load torque conditions. The height of the bars represents the averages of the RMS error across all the commanded preload levels during the last 5 s of each of each commanded angle. The average error with encoder feedback was always less than with inductance feedback. This difference was statistically significant (p < .05) in all cases except when 0.65 Nm and the desired preload was 15 N or higher. Color images available online at www.liebertpub.com/soro