A NEW METHOD OF ANALYZING AND CONTROLLING MULTI-AXIS ROBOT DYNAMIC CONTOURING ERROR BASED UPON RELAXED PERFORMANCE MEASURE WAS INTRODUCED IN THE PREVIOUS RESEARCH BY THE SAME AUTHORS. THIS PAPER EXTENDS THE STUDY ON RELAXED PERFORMANCE MEASURE. FIRST, THE CONCEPT OF THE RELAXED PERFORMANCE MEASURE WILL BE REVIEWED. THE ROBOT AXIS DYNAMIC RESPONSE PREDICTED BY A LINEAR, DECOUPLED DYNAMIC MODEL IS PRESENTED. THE DYNAMIC CROSS-COUPLING EFFECTS BETWEEN COORDINATED MOTION AXES WILL BE EVALUATED ANALYTICALLY. A TWO-DIMENSIONAL CIRCULAR CONTOUR TRACKING EXPERIMENT IS PERFORMED TO VERIFY ROBOT DYNAMIC TRACKING ACCURACY. TRACKING ERRORS ARE CORRELATED WITH AXIS DYNAMIC MIS-MATCH CHARACTERISTICS USING THE DYNAMIC TRIANGLE REPRESENTATION. FINALLY, PERFORMANCE LIMITATIONS RESULTING FROM MECHANICAL AND FEEDBACK TRANSDUCER NON-LINEARITIES ARE ADDRESSED AND TEST RESULTS PRESENTED.