Coordinated position control of multi-axis mechanical systems

Position coordination of multi-axis mechanical systems is studied. Under the assumption that the coordination objective can be represented by smooth functions of the positions of the multiple axes control systems, a necessary coupling effect can be introduced to each axis by the proper choice of a Lyapunov-like function. The resulting control law requires the knowledge of the desired trajectories and their time derivatives as well as actual position and velocity information. Implementation of the proposed control algorithm on a CNC feed drive system shows significant improvement in dimensional accuracy during high speed contouring.