Systems and methods for end effector position set point adjustment

A method of actuating an end effector of an instrument using a control unit, the method comprising:

• actuating the end effector using a drive mechanism;
• determining an actual position of the end effector;
• identifying an expected position associated with the determined actual position of the end effector;
• determining a position offset based on the expected position and the determined actual position of the end effector;
• adjusting a position set point based on the position offset;
• and
• actuating the end effector to the adjusted position set point using the drive mechanism.

A non-transitory computer-readable medium having stored thereon a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:

• actuating an end effector using a drive mechanism;
• determining an actual position of the end effector;
• identifying an expected position associated with the determined actual position of the end effector;
• determining a position offset based on the expected position and the determined actual position of the end effector;
• adjusting a position set point based on the position offset;
• and
• actuating the end effector to the adjusted position set point using the drive mechanism.