Multi-axis cooperative motion control system and method for skin stretcher

The invention provides a skin stretcher multi-axis cooperative motion control system and method.The control system comprises a controller, a servo valve and a displacement sensor, the servo valve is installed on a communication pipeline of a stretching branch and a hydraulic station, and the displacement sensor is installed on the stretching branch; the servo valve and the displacement sensor are both in electric signal connection with the controller. According to an established multi-axis cooperative motion control mathematical model of the skin stretcher, a controller obtains an inverse analytic solution of a stretching branch position of the skin stretcher corresponding to an ideal motion trail of a clamp; after an ideal displacement track curve of a stretching branch is obtained, an instruction is sent to a servo valve so as to drive each stretching branch hydraulic cylinder to move according to the ideal displacement track curve, and in the motion control process, a controller carries out subtraction on