Digital implementation of robust /spl mu/-control for a robot manipulator

Abstract

In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value /spl mu/. Then the /spl mu/-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.