Cross coupling contour tracking of multi-DOF robot

In this paper, the contour tracking control of multi-DOF serial robots is developed for the first time and a new cross coupling control algorithm is proposed, based on contour errors of the end-effector and tracking errors of the joints. The contour error of the end-effector is transformed to the equivalent tracking errors of the active joints by the Jacobian regulation, and the control law is implemented in the joint level. Stability analysis of the proposed cross coupling control system is conducted using the Lyapunov method, followed by some simulation results for linear and nonlinear contour tracking to verify the effectiveness of the new cross coupling control system.