Fig. 1 The 7-DOF Baxter's arm at DSCL More

Fig. 2 The joints' configuration: ( a ) sagittal view and ( b ) top view More

Fig. 3 Baxter tracking a desired trajectory under the prescribed-time control scheme, correcting for a large initial tracking error of 20 degrees in each joint and attenuating a sinusoidal torque disturbance of D ( t )   =   0.1sin(5 t ). The circles represent the reference trajectory to be track... More

Fig. 4 The experimental, simulated, and desired joint trajectories of Baxter More

Fig. 4 The experimental, simulated, and desired joint trajectories of Baxter More

Fig. 5 The simulated ( a ) and experimental ( b ) joint tracking errors of Baxter, with D ( t )   =   0:1sin(5 t ) More

Fig. 6 The experimental and simulated joint torque input signals of Baxter More

Fig. 6 The experimental and simulated joint torque input signals of Baxter More

Fig. 7 The simulated ( a ) and experimental ( b ) joint tracking errors of Baxter, when subjected to a disturbance with nonzero mean D ( t )   =   0.1sin(5 t ) + 0.05 More

Fig. 1 Comparison of convergence rates: ( a ) w  = 0.4 mm, Ω  = 5 × 10 3 rpm and ( b ) w  = 1 mm, Ω  = 5 × 10 3 rpm More

Fig. 2 Comparison of stability prediction results More

Fig. 3 The quantitative evaluation of stability prediction accuracy and calculation time: ( a ) mean, ( b ) variance, and ( c ) calculation time More

Fig. 4 Comparison of SLE prediction results More

Fig. 5 The quantitative evaluations of SLE prediction accuracy and calculation time: ( a ) mean, ( b ) variance, and ( c ) calculation time More

Fig. 6 The stability prediction results calculated by the first four groups More

Fig. 7 The relation between the prediction results and control parameter λ: ( a ) stability analysis and ( b ) SLE More

Fig. 8 Experimental results versus stability predictions: ( a ) one-DOF down milling, ( b ) one-DOF up milling, and ( c ) two-DOF milling More

Fig. 9 Experimental results versus SLE prediction More