Next:Systems Approach to Modeling Up:Manipulators and Actuators Previous:Dual-Arm Robotic Workcell

Sensitivity Analysis and Control of High Performance Electromechanical Transmissions

E. Cruz-Hernandez, V. Hayward

In a number of applications, high performance transmissions are needed. They have high power density, low friction and high frequency response. In the design of such transmissions, a number of parameters must be traded-off. Sensitivity analysis allows us to systematically select such paramaters and design controllers to guarantee robustness and rejection of disturbances such as friction.

Annual Report

Fri Nov 26 23:00:32 GMT 1999