A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an articulable wrist configured to rotate the end effector within a plane. The wrist is articulated via antagonistic translation of a pair of drive members. Various systems are provided for homing one or more drive inputs that cause movement in the wrist and/or the end effector, or for controlling articulation of the drive inputs.