Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/complexity/volume-2019/1406534/figures/1406534.fig.005a.svgz" name="1406534.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Velocity error in the x direction</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/complexity/volume-2019/1406534/figures/1406534.fig.005b.svgz" name="1406534.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Velocity error in the y direction</td></tr></table>

<div>Velocity tracking errors for Case <a href="https://static.hindawi.com/articles/complexity/volume-2019/1406534/figures/#casee1">1</a>.</div>

Complexity

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Figure 5

Figure 5: Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network 