“…Details on the design of an RLC, see Figure 17, (specifically the filters q(s) and b(s)) can be found elsewhere in the literature. [17,18] Without the RLC (Figure 18, Figure 20, and Figure 22), the amplitude of the tip position error is 1.3 mm in the X direction, 3.05 mm in the Y-direction and 4.05 mm in the Z-direction. With the RLC (see Figure 19, Figure 21, and Figure 23), the error reduces to 0.11 mm in the X-direction, 0.23 mm in the Y-direction and 0.33 mm in the Z-direction.…”