Fig.1

Model diagram of double blade hydraulicpassive compliant rotary joint"

Fig.2

Structural diagram of valve sleeve"

Fig.3

Section C-C of double blade hydraulic passivecompliant rotary joint"

Fig.4

Torque transmission mechanism"

Fig.5

Simulink simulation model diagram of double blade hydraulic passive compliant rotary join"

Table 1

Parameters of double blade hydraulic passivecompliant rotary joint"

Fig.6

Quintic polynomial trajectory tracking curve ofdifferent loads"

Fig.7

Quintic polynomial trajectory tracking error diagram of different loads"

Fig.8

Sinusoidal trajectory tracking curve of differentloads"

Fig.9

Sinusoidal trajectory tracking error diagram of different loads"

Fig.10

Structure diagram of fuzzy adaptive PIDcontrol system"

Fig.11

Fuzzy subset distribution graph"

Fig.12

Observation window diagram"

Fig.13

Fuzzy PID simulation model of passive compliant rotary joint with double blades"

Fig.14

Environmental impact moment"

Fig.15

Error comparison of quintic polynomial jointtrajectory"

Fig.16

Comparison of joint trajectory tracking errorsof sinusoidal function"

Fig.17

Rotary joint control block diagram"

Fig.18

Simulink simulation model of active compliance and passive compliance"

Fig.19

Simulation diagram of adaptive algorithm module"

Fig.20

Angular displacement tracking curve"

Fig.21

Angular displacement deviation curve"

Fig.22

Joint output torque curve"

Fig.23

Joint compliance curve"