提出了一种基于松弛性能测度的多轴机器人动态轮廓误差分析与控制方法。本文扩展了放松绩效测量的研究。首先，将回顾放松绩效衡量的概念。提出了一种由线性解耦动力学模型预测的机器人轴动态响应。将通过分析评估协调运动轴之间的动态交叉耦合效应。为了验证机器人的动态跟踪精度，进行了二维圆形轮廓跟踪实验。采用动态三角形表示法，将跟踪误差与轴的动态不匹配特性相关联。最后，讨论了机械和反馈传感器非线性导致的性能限制，并给出了测试结果。

A NEW METHOD OF ANALYZING AND CONTROLLING MULTI-AXIS ROBOT DYNAMIC CONTOURING ERROR BASED UPON RELAXED PERFORMANCE MEASURE WAS INTRODUCED IN THE PREVIOUS RESEARCH BY THE SAME AUTHORS. THIS PAPER EXTENDS THE STUDY ON RELAXED PERFORMANCE MEASURE. FIRST, THE CONCEPT OF THE RELAXED PERFORMANCE MEASURE WILL BE REVIEWED. THE ROBOT AXIS DYNAMIC RESPONSE PREDICTED BY A LINEAR, DECOUPLED DYNAMIC MODEL IS PRESENTED. THE DYNAMIC CROSS-COUPLING EFFECTS BETWEEN COORDINATED MOTION AXES WILL BE EVALUATED ANALYTICALLY. A TWO-DIMENSIONAL CIRCULAR CONTOUR TRACKING EXPERIMENT IS PERFORMED TO VERIFY ROBOT DYNAMIC TRACKING ACCURACY. TRACKING ERRORS ARE CORRELATED WITH AXIS DYNAMIC MIS-MATCH CHARACTERISTICS USING THE DYNAMIC TRIANGLE REPRESENTATION. FINALLY, PERFORMANCE LIMITATIONS RESULTING FROM MECHANICAL AND FEEDBACK TRANSDUCER NON-LINEARITIES ARE ADDRESSED AND TEST RESULTS PRESENTED.