Precision requirements in ultra-precision machining are often given in the order of micrometers or sub-micrometers. Machining at these levels requires precise control of the position and speed of the machine tool axes. Furthermore, in machining of brittle materials, extremely low feed rates of the machine tool axes are required. At these low feed rates there is a large and erratic friction characteristic in the drive system which standard PID controllers are unable to deal with. In order to achieve the desired accuracies, friction must be accurately compensated in the real-time servo control algorithm. A learning controller based on the CMAC algorithm is studied for this task.

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