{"title":"Robust control of a customized robotic arm with unstructured uncertainties","authors":"T. Qaisar, A. Mahmood","doi":"10.1109/ICET.2015.7389204","DOIUrl":null,"url":null,"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.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Emerging Technologies (ICET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICET.2015.7389204","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
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.
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