A nonlinear robust control methodology for robot control based on robust servomechanism theory has been demonstrated by computer simulation to possess the capability of achieving satisfactory robot position control under severe modeling errors. The object of this research is to experimentally evaluate the merits of this scheme by implementing it on a PUMA 560 mechanical manipulator and to determine the need for possible controller modifications. Success of this project would have a significant impact on the operational speed and accuracy of many robotic manipulators currently used in industrial operations, including assembly, material handling, welding and deburring. Improved productivity would also result.
