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>Control inputs with a 100 Nm outer disturbance.</table>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: 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 6 | Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 