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

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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. 
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