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

In order to obtain the model parameters, an identification experiment was performed to capture the plant input-output behavior. 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.</br>
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. The sets of data include:</br>
* I/O identification data for pitch motion.</br>
* I/O identification data for pitch motion at 50 Hz.</br>
* I/O identification data for roll motion.</br>
* I/O identification data for roll motion at 50 Hz.</br>
In addition, the experiment results are also provided as datasets:</br>
* Step input experiment for different mass loads (FOPI) (pitch and roll).</br>
* Step input experiment for different mass loads (PID) (pitch and roll).</br>
* Camera stabilization experiment for 1 kg mass loads (FOPI).</br>
* Camera stabilization experiment for 1 kg mass loads (PID).</br>
* Disturbance experiment for 1 kg mass loads (FOPI).</br>
* Disturbance experiment for 1 kg mass loads (PID).</br>