135690.fig.002a
(a) The desired and actual position trajectories of the manipulators
135690.fig.002b
(b) The desired and actual velocity trajectories of the manipulators
135690.fig.002c
(c) The estimated values for at joint 1
135690.fig.002d
(d) The estimated values for at joint 2
135690.fig.002e
(e) The control inputs of each manipulator
Figure 2: Simulation results with healthy actuators.