Parameter Sensitivity Analysis for Design and Control of Tendon Transmissions

We apply sensitivity analysis to the design and control of a tendon transmission. With this approach, some prefered values for the system parameters and a feedback compensator can be proposed. The controller has the special characteristic of being designed based on a linear plant using a robust loopshaping technique, yet it compensates also for the nonlinear behavior of the plant, while exhibiting good disturbance rejection and robustness. Experimental results using a test bench are discussed.

• Type: Conference
• Year: 1995
• Where: ISER
• Authors: Vincent Hayward, Juan Manuel Cruz-Hernández
• Keywords: Feedback Compensator, ISER 1995, Robotics, Robust Loopshaping Technique, Tendon Transmission