Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 17, issue 2
Articles | Volume 17, issue 2
https://doi.org/10.5194/ms-17-759-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-759-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 17, issue 2
Research article
 | 
27 Jul 2026
Research article |  | 27 Jul 2026

Trajectory-tracking control of the UR10 manipulator based on radial basis function neural network and super-twisting sliding mode

Xiaole Ma, Chenghu Jing, Kun Zhang, Chen Chen, and Yanfeng Wang

Viewed

Total article views: 119 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
75 37 7 119 9 7
  • HTML: 75
  • PDF: 37
  • XML: 7
  • Total: 119
  • BibTeX: 9
  • EndNote: 7
Views and downloads (calculated since 27 Jul 2026)
Cumulative views and downloads (calculated since 27 Jul 2026)

Viewed (geographical distribution)

Total article views: 93 (including HTML, PDF, and XML) Thereof 93 with geography defined and 0 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 
Latest update: 23 Aug 2026
Download
Short summary
We developed an improved control method for UR10 robot arms, which typically face issues with unpredictable forces and friction. By combining an online-learning neural network with a robust sliding-mode controller, our approach enables more accurate trajectory tracking and eliminates jitter. 
Read more
Share