Robust control algorithms for robot manipulators

A robust computed torque problem is considered in this paper. By representing the error model as a block structured uncertainty model, the problem is formulated as a robust feedback controller design problem for systems with parameter uncertainties and an optimal input/ouput scaled H/sub /spl infin// stabilization approach is presented for synthesizing controllers which robustly stabilizes the linear system with the structured uncertainties. An application example for a two-link manipulator is given, and the simulation results of the proposed method for the uncertain dynamics are shown.<>