• DocumentCode
    3735198
  • Title

    Robust control of a customized robotic arm with unstructured uncertainties

  • Author

    Tayyaba Qaisar;A. Mahmood

  • Author_Institution
    Department of Electrical Engineering, Bahria University, Islamabad, Pakistan
  • fYear
    2015
  • Firstpage
    1
  • Lastpage
    5
  • 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.
  • Keywords
    "Uncertainty","Service robots","Robustness","Mathematical model","Grippers","Stability analysis"
  • Publisher
    ieee
  • Conference_Titel
    Emerging Technologies (ICET), 2015 International Conference on
  • Print_ISBN
    978-1-5090-2013-3
  • Type

    conf

  • DOI
    10.1109/ICET.2015.7389204
  • Filename
    7389204
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3735198