The design of precise motion systems by applying both the advanced controllers and the interpolators

To improve motion accuracy, past efforts were mainly put on the reduction of tracking errors or contouring errors by employing advanced motion controllers. In this paper, two advanced motion controllers were adopted: (1) the integrated motion controllers, and (2) the task coordinate frame (TCF) controllers. Moreover, the NURBS interpolators were also implemented with different algorithms. Experimental results indicate that the design of motion systems must concern both the controller and the interpolator to result in the best motion accuracy.