H∞ tuning for task-space feedback control of robot with uncertain Jacobian matrix

The H_∞ tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H_∞ tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H_∞ tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty