Fig. 8
From: Basic study of sensorless path tracking control based on the musculoskeletal potential method
Simulation results (sample 1: \({\varvec{\theta }_s}=(45,45)^T\), \({\varvec{\theta }_e}=(90,90)^T\), \({\varvec{\theta }_d}=(90,135)^T\)): a desired path \(\Theta\) and desired potential \(P_d(\varvec{\theta })\), b 3-D data of desired potential \(P_d(\varvec{\theta })\), c generated potential \(P_d^*(\varvec{\theta })\), d comparison between the resultant path \(\Theta ^*\) and the desired path \(\Theta\)