Fig. 11 | Scientific Reports

Fig. 11

From: Tracking control of industrial manipulator based on adaptive RBF neural network with local model approximation

Fig. 11

Comparison of errors between RBF impedance and SMC-PID control. (a) Angle tracking error comparison errors of Joint 1, (a) Angle tracking error comparison errors of Joint 2, (c) Angle tracking error comparison errors of Joint 3, (d) Angle tracking error comparison errors of Joint 4, (e) Angle tracking error comparison errors of Joint 5, (f) Angle tracking error comparison errors of Joint 6.

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