...Pengcheng Wang; Dengfeng Zhang; Baochun Lu Purpose Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy. Design/methodology/approach...

... rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot. Findings With the novel design for moving the DOFs of the system, the rehabilitation for the wrist and all phalanges of fingers...