ABSTRACT
Most industrial machine tools, such as conventional milling machines, drilling machines, lathes, stacked axis robots, and so on, have a serial or open-loop kinematic architecture, which means that each axis supports the following one, including its actuators and joints (Figure 9.1). These machines are mainly based on the perpendicular composition of three linear axes. Two more rotary axes may be integrated to extend the ease of applying the Cartesian coordinate system to control spatial movements (AKIMA, 1997).
