Figure 6.

(A) Both the input reference to the FPGA (labeled as Ref. SG) and the angle, are shown. The home position of joint 2 is vertical 0°. (B) The experiment was run four times for each position. The step was 18°, and for each of them, the mean and standard deviation are shown. Two colors are used to distinguish between positive and negative reference and to show the difference in the mid position (0°). The error bars represent the RMSE. (A) Measurement of the angles reached by joint-2. (B) Positions reached by the joint when moving from −90 to 90°.