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>Estimates of parameters with a 100 Nm outer disturbance.</table>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: 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 7 | Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 