The general nature of contouring errors experienced in type 1 servo systems as a result of command contours is described. Both transient and steady-state errors are discussed. A significant result illustrates that contouring error is essentially a result of mismatched gains in the servo drives and the contour. The relative significance of errors associated with a mismatch in time constants, modeling technique employed, and magnitude of velocity gains is discussed.
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Poo et al. (1972) studied this question.
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