Figure 7From: A biologically inspired neural network controller for ballistic arm movementsModule and Phase Error. Considering the movement directed from the starting point (xp, yp) to the arrival point (xa, ya), the module error (or amplitude error) |e| is the distance between (xtp, ytp) and (xa, ya); the phase error (or the direction error) is the angular difference between the segment connecting (xp, yp) and (xt, yt) and the segment connecting (xp, yp) and (xa, ya).Back to article page