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Oleiwi et al. / IJOCTA, Vol.15, No.4, pp.706-727 (2025)
Figure 13. The trajectories tracking of all angles of the 3-links robot and the applied control signals when
disturbance disturbed all control signals and the link-3 weight Mc increased by 10% while th motion start
from initial values (0.2, 0.5, 0.8).. “A” , “B”, and “C” are the positions tracking for Psi-1, Psi-2, and Psi-3,
respectively .”E” , “F, and “G” are the applied control torques respectively. “D” the end effector x–y plot.
Abbreviations: Con-PID: Conventional proportional-integral-derivative control; NN: Neural network; STNN:
Self-tuning neural network.
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