For the tracking problem of the end effect of wire bonders

based on the task coordinate frame approach

the paper researches the design method of the contouring control law of wire bonders

confirms that the control law consists of a time-varying PD feedback control law and a linear time invariant trajectory feedforward control law

designs the correlative parameters for a circle with radius of 10mm

and then gives the result that the contour error is 0.033mm under the condition when the motion period is 1s.