Design and realization of robust manipulator controllers based on signal compensation

Robust control methods based on signal compensation are applied to design for real manipulator systems.Analyses of the limitations of controller designs for real systems was used to develop a controller design method and adjustment procedure.Robust compensators are first designed for joint subsystems with the robust controllers then tuned for the whole manipulator.The method gave good results when applied to the design of a robust controller for a real two degree-of-freedom manipulator system.