This paper designs a step-forward pneumatic climbing robot by means of vacuum pads which can move on flat surfaces,especially vertical plane walls with the features of simplicity and flexibility.

For the control problem of the synchronized feed of dual linear motors in gantry-moving type milling machine tool,a Pseudo-Derivative Control with Feedforward Gain(PDFF) control was applied to the speed controller design of subsystem,which greatly improved the capability of the anti-jamming and the speed of response.

A control strategy combining cross-coupling controller with QFT(qualitative feedback theory) robust controller was presented to implement the synchronized feed of dual linear motors in a gantry-moving type milling machine tool.