“…Meanwhile, to design the tracking controller of a robot by using adaptive control technology, which need not know the dynamic model of the robot, and without considering joint frictions and external disturbances (Baek, 2016;Zhang and Cheng, 2019;Baek, 2018;Tang, 2021). To control trajectory tracking, a neural network was used in some different conditions (Rahmani, 2016;Balasubramanian, 2022;Izadbakhsh and Nikdel, 2022;Uyulan and Pek, 2021;Antonio, 2019). A designed controller for the 6-DOF robot, which was using a disturbance observer to combine with sliding mode control technology (Cui, 2016;Wang et al 2020aWang et al , 2020bWu, 2020;Jiang, 2021).…”