Research Article

Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics

Table 3

Simulation error table.

AxisPosition error (mm)Velocity error (mm)

-axisMax0.08890.8656
Mean0.00360.0312
Rms0.01160.1146

-axisMax0.08893.9522
Mean0.00360.1370
Rms0.01160.5227