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 H2 and H∞ compensators. This comparison show the advantage of integrating the aforementioned compensators on system stability.