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Wang et al. Intell Robot 2023;3(3):479-94 I http://dx.doi.org/10.20517/ir.2023.26 Page 15 of 16

Figure 12. The comparisons of joint errors with time. (A) with adaptive sliding mode control (SMC); (B) without adaptive SMC.

DECLARATIONS
Authors’ contributions
Made substantial contributions to the conception and design of the study and performed data analysis and
interpretation: Wang H
Performed data acquisition and provided administrative, technical, and material support: Wang H, Chen Q

Availability of data and materials
Not applicable.

Financial support and sponsorship
This work is supported by the National Natural Science Foundation of China (No. 61733013; No. 61573260;
No. 62073245; No. U1713211).

Conflicts of interest
All authors declared that there are no conflicts of interest.

Ethical approval and consent to participate
Not applicable.

Consent for publication
Not applicable.

Copyright
© The Author(s) 2023.

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