Controller gains were optimized by minimizing a weighted sum of position errors, orientation errors, and muscle activations.
The orientation-error Kalman filter at the top estimates errors in orientation and errors in gyroscope bias.
The most important advantage of the cascade structure is that the inner loop directly regulates the most significant error (the orientation error), which minimizes the impact of the external disturbances upon the outer loop.
where and represent the clothoid horizontal curvature parameters, and stand for the clothoid vertical curvature parameters, while,, and are the lateral error and orientation error with regard to the centre of the lane and the width of the lane, respectively.
This is likely due to that the large subunit has more weight to contribute to the final projection, leading to a smaller error of orientation determination.
When only magnetometers are used, the trajectory measurements cannot compensate for the errors in orientation, rendering larger positioning errors.
This work refers to the problem of controlling robot motion and force in frictional contacts under environmental errors and particularly orientation errors that distort the desired control targets and control subspaces.
We observed in both polyhedra that while panels folded first along edge connections, vertex connections enabled panels to lock together, thereby correcting for any errors in orientation.
When we correct for the orientation error, the positional error becomes less than 1 cm (Figure 10(c)).
When we convert the marker pose in camera coordinates to the camera pose in marker coordinates, the stochastic orientation error results in an error in position of 2.7 cm/m.
In the direct sensitivity analysis, influence of actuator errors on the position and orientation errors of the moving platform (MP) is determined.
