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Fig 1.

Reference frames of ETS-MARSE.

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Table 1.

Workspace ETS-MARSE.

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Table 2.

Modified Denavit- Hartenberg parameters.

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Table 2 Expand

Fig 2.

Block diagram of novel compound control system.

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Fig 3.

Position tracking of joints under NFSMC and NCFPIDSMC.

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Fig 4.

Position tracking error of joints under NFSMC and NCFPIDSMC.

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Fig 5.

Velocity of joints under NFSMC and NCFPIDSMC.

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Fig 6.

Control effort using NFSMC and NCFPIDSMC.

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Table 3.

Physical parameters of ETS- MARSE.

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Table 3 Expand

Fig 7.

Robustness verification of NCFPIDSMC under random noise application.

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