Robot contour tracking accuracy enhancement using relaxed performance measure

A way of interpreting the three-dimensional dynamic contouring errors attributed to a multi-axis robot system based on a relaxed performance measure is introduced. With this concept, multi-axis contour errors can be reduced by matching delay times over a bounded frequency bandwidth, rather than increased loop gains in the servo drives which is an important scarce source for the stability maintenance of the servo design. Contour error models and the axis controller design, implemented using the relaxed performance measure, are given.<>