In a number of applications, in particular for the construction of haptic interfaces, high performance transmissions are needed. They must 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 parameters and design controllers to guarantee robustness and rejection of disturbances such as friction. In particular, a novel technique to deal systematically with hysteresis in the input output behavior is under investigation.
E. Cruz-Hernandez, V. Hayward