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 performance without a payload.</table>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: 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 9 | Research on a Nonlinear Robust Adaptive Control  Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission 