Abstract
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.
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© 1997 Springer-Verlag London Limited
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Hayward, V., Cruz-Hernández, J.M. (1997). Parameter sensitivity analysis for design and control of tendon transmissions. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035215
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DOI: https://doi.org/10.1007/BFb0035215
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