Cross-Coupled Contouring Control of a Rotary Based Biaxial Motion System

For multi-axis translational motion system, better contouring accuracy is achieved using a cross-coupled controller. However, the rotary biaxial motion system that is under investigation in this paper has different system dynamics as compared to the translational system. Consequently, the existing cross-coupled control method becomes less effective. To overcome this deficiency, a trajectory coordinate based cross-coupled control method is proposed. The effectiveness of the proposed approach has been evaluated with both simulation and experiment studies. The results have shown that the new system performs better than the traditional scheme