The Thesis project has been developed in COMAU S.p.A, one of the most important leading companies in the industrial automation field. The purpose of the activity is the development and simulation of a robust control system for an industrial six axes manipulator, the most common mechanical structure. This is a very important goal to reach, since robustness to disturbances and uncertainties has always been the central focus in feedback control theory. To fulfill this objective, the $H_\infty$ approach has been used. Moreover, the development of the controller has given the chance to investigate the advantages and disadvantages of this method when it is applied to a more realistic and complex field, such as the robotics one.