This increase or decrease in power supplied to the motor is what increases or decreases the speed of the DC motor. When such PWM signal(series of different width pulses) is supplied to a DC motor, we can increase or decrease the amount of power supplied to the motor. The act of changing the pulse width for low and high is called modulation. A low-cost robotic arm may have lower price but consequently, it may have some lower specification such as resolution, power, repeatability, and so on compared to the expensive commercial one.PWM stands for Pulse Width Modulation and is a technique of generating signal with different width of high and low pulses. The controller synthesis is explained in the paper and tested to control a low-cost small industrial or educational robotic arm joint. This paper proposes a low order H2/H∞ robust controller that is possible to be programmed on a small embedded system like Arduino board with ATMEGA328 microcontroller. The reduction method resulted around 4 th to 7 th order of controllers which are still too high for a small embedded system like ATMEGA328 in Arduino board. The conventional high order H∞ controller results were 10 th to 13th order of controllers. Another research synthesized a conventional high order H∞ controller and tried to reduce the order using control reduction method in Matlab. All of these approaches resulted very high order of controllers that are difficult to be implemented in a small embedded system. Several researches tried to control it using linear approach. Robotic arm is one example of a non-linear system. Gain scheduling and various of H∞ approaches were used. INTRODUCTION During decades, many researchers have been trying to control non-linear system using linear techniques. Keywords: Arduino H2/H∞ robust control Robotic arm This is an open access article under the CC BY-SA license. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Therefore, the control algorithm should be a small order of controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. There might be exist more unmodelled dynamic in a low-cost system. However, a low-cost manipulator can bring more uncertainties. Development of a low cost industrial robotic arm can be one of good solutions for them. This become a significant challenge to middle or small size industry. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. Robotic arm is widely used now in the era of Industry 4.0. This paper proposes a small structure of robust controller to control robotic arm's joints where exist some uncertainties and unmodelled dynamics. The two modes of navigation are AUTONOMOUS AND MANUAL navigation. It receives commands from the PC and acts according to the command to navigate. The Microcontroller is used to control the DC, Stepper motors and read values of the IR sensors and ULTRASONIC sensor. All the above systems are controlled by the Microcontroller. The infrared sensors are used to avoid obstacles. The project is mainly used in the DEBRIS for Earth quake rescue and in war fields internally it consists of IR sensors. Here we are using PIR sensor for detection. This Robot follows which is drawn over the surface. This Project deals with live personal detection robot is based on Microcontroller. So the project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the alive people and rescue operations. Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. A timely rescue can only save the people who are buried and wounded. Hence a lot of times humans are buried among the debris and it became impossible to detect them. Earthquakes produce a devastating effect and they see no difference between human and material. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Natural calamities do occur and they are unstoppable.
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