This thesis is aimed to eliminate tracking error of traveling a circular profile on the CNC machine tools. Friction is one of the most significant source of nonlinear disturbance for the motion control which caused by the relative motion of different contact surface at the low velocity. The nonlinear component of friction such as static friction (stiction) and the Coulomb friction should be overcome so that the tracking error will be eliminated. When the X-Y tables are tracking a circular profile, quadrant glitches appear at ninety degrees intervals, i.e. the motion of one axis has a zero velocity crossing and reverses direction.

90323119.pdf

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