SoftNeckCameraStabilization: Data and results of the identification and control of a soft neck

For this purpose, a step input was introduced in the plant, and the corresponding output was registered. Given that the system input is a velocity, but the neck inclination has a limited working range, a sign alternating input is needed to avoid the maximum inclination that would cause output saturation.

For the same reason, the expected transfer function order is two, including a real pole and an integrator. After testing different modeling options, the most accurate result was obtained with the standard two-pole and gain control engineering model. Four csv files are available that include the described information about the end effector orientation of the soft robot while varying the length of the tendons.