Cross-coupling control in multi-axis coordinated motion

Contour error is taken as the target of control directly.Coupling elements are introduced into each axis in multi-axis motion.Contouring accuracy is improved by enhance the coordination of each axis,not only by using single axis decoupling control to improve the tracking accuracy of each axis.In this paper,all types of cross-coupling control approaches are analyzed and synthesized widely from the point of view of control.Several problems to be settled are presented and some expectations are made on the future direction in this area.