Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

Figure 12

Experimental results of different control strategies in Case  2.

(a) Joint torques under PID control

(b) Joint tracking errors under PID control

(c) Joint torques under PD sync control

(d) Joint tracking errors under PD sync control

(e) Joint torques under adaptive backstepping control

(f) Joint tracking errors under adaptive backstepping control