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 1

Parameters of the elbow hydraulic system.

Parameters	Values
𝐼/kg·m^2	0.022
𝐴/m^2	0.00481
𝛽𝑒/N/m^2	7.0×10^8
𝑃𝑠/N/m^2	1.0×10^7
𝑖/mA	0~550
𝑉𝑡/m^3	7.104×10^−6
𝑓/Nm	50
𝐾𝑇/m	0.0078
𝐾𝑢/mA/V	110
𝐾𝑞/m^3/(N/m^2·mA·s)	1.852×10^−10
𝑏/Nm/rad/s	20
𝐾𝜃/m/rad	0.01042