Motion synchronization of two linear tooth belt drives using cross-coupled controller

Different assembly, printing and cutting applications demand often fully synchronized movement of multiple actuators. The linear tooth belt drive offers an inexpensive and fast solution for linear movement applications. In this paper the cross-coupled controller is implemented and tested with biaxial linear tooth belt drive system for motion synchronization. The elastic tooth belt set uncertainty in the system parameters and the quantitative feedback theory is applied to design controllers for the biaxial system. Due to an elastic belt stretching phenomena system accuracy is analyzed using two different feedbacks with cross-coupled controller - firstly values are measured from driving motors´ encoders and secondly from belt drives´ load carts.