Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission

<table>Tracking error without a payload.</table>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 

Figure 10 | Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 