Design of Robust controller for Robotic arm

Abstract

The development of automation in the industries involves the use of robots. This increases the productivity in a fast and accurate .which in terms increases the quality of products. There are many researches are going on in the field of robotics. Among that the field involving the robotic arm manipulators are important in the role of growing the industry . Since it reduces the human efforts and increases productivity. As the complexity of the task increases the control of robots increases. It is mainly because, it involves nonlinearities, uncertainties external perturbations etc. This makes the control more complex. More over the dynamic equation of the manipulator is highly nonlinear and input-output coupled. There are many control laws used for the trajectory tracking or tracking desired input. To achieve the required task the controller adjust itself in accordance with the uncertainty or external perturbations. Such kind of controllers are referred as adaptive control. Which adapt to the situation. But these adaptive controllers may not be robust. So there comes the design of robust controller. In this work a robust controller which works based on pole clustering is explained. The boundedness of the system can be set by adjusting the location of poles in the s plane. So according to the changes in position of poles the controller performance will change in the specified boundedness.