We apply sensitivity analysis to the design and control of force transmission systems. With this approach, the effect of the values of the system parameters on the response can be investigated: transmission ratio, sensor placement, damping, and allowable load variation. It is then found that feedback must be applied to reduce the sensitivity of the system response to the load. Based on these observations, a loop shaped feedback compensator design is proposed. Such compensators can compensate for the nonlinear behavior of the transmissions due to friction, while exhibiting good disturbance rejection and robustness. This is achieved without detailed knowledge of friction behavior and without measurement nor estimation of velocity. Experimental results using a test bench are discussed.

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