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Bilateral Master-Slave force reflecting servomechanisms are very interesting and useful devices. The basic principle of these systems is too realise a force and position transformation between the two mechanisms. This paper presents the design of the multivariable system to control by pole assignment. The procedure allows the cumputation of all the controller gains as a function of the system parameters and requirements (inertias, viscous friction coefficients, desired force ratio, desired position ratio,...)