Fig 1.
The schematic diagram of two-degree-of-freedom robot manipulator.
Fig 2.
The position tracking and error diagram of the x-coordinate of the end joint node of the RM.
Fig 3.
The position tracking and error diagram of the y-coordinate of the end joint node of the RM.
Fig 4.
The velocity tracking and error diagram of x-coordinate of the end joint node of RM.
Fig 5.
The velocity tracking and error diagram of y-coordinate of the end joint node of RM.
Fig 6.
Response diagram of control input .
Fig 7.
Response diagram of control input τ.
Fig 8.
The display diagram of x,y trajectory tracking effect.