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 with a 30 kg eccentric payload.</table>

Mathematical Problems in Engineering

fig15

Figure 15

Figure 15: 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 15 | Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 