Robust control of a customized robotic arm with unstructured uncertainties

Abstract

Owing to the recent advancement in the field of `Robotics', the use of robots can now be modified to fit our own requirements. A potential field of expansion in this domain is the design and implementation of prosthetic limbs. In this paper we discuss the robust control of a customized robotic gripper arm. We also incorporate unstructured uncertainties and analyze responses of both H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> compensators. This comparison show the advantage of integrating the aforementioned compensators on system stability.