Instruments and Systems: Monitoring, Control, and Diagnostics Annotation << Back Robust decentralized law for control of Puma type robots handler YU.A. LEZHNINA, G.N. TERNOVAJA In this paper we propose a robust control algorithm is used to compensate for disturbances such as PUMA manipulator control so as to ensure the movement of its gripper to the desired path with a given accuracy. Necessary to generate a control signal for each degree of mobility without the use of the values of velocities and accelerations of the relative coordinates of the measured out put variables, or other degrees of mobility. Thus, the implemented decentralized management manipulationrobot for the exit. Keywords: robust system, multimessenger plant, reference model, decentralized law, auxiliary block, compensation for disturbances, handler. Contacts: E-mail: lejninau@mail.ru, E-mail: ternovaja@mail.ru Pp. 36-41.