Surgical robotic tool multi-motor actuator and controller

A method for use in a surgical robotic system, comprising:

• operating a first motor subsystem coupled to an end effector, wherein operating the first motor subsystem includes generating, by a controller, a first motor command based on a position error input to drive the first motor subsystem;
• and
• operating a second motor subsystem coupled to the end effector, wherein operating the second motor subsystem includes generating, by the controller, a second motor command based on the position error input or based on feedback from the first motor subsystem to drive the second motor subsystem, wherein the first motor subsystem and the second motor subsystem are coupled to the end effector so as to rotatably drive an output coupling so that torques produced by the first motor subsystem and the second motor subsystem, respectively, are summed at the output coupling.