本論文針對五軸雕刻機進行運動控制器設計與檢測路徑之動態誤差分析,藉以提升五軸雕刻機多軸同動之刀具先端點(Tool Center Point, TCP)精度。此研究首先推導出桌上型五軸雕刻機完整之順逆向運動方程式以及伺服動態模型,輔以系統鑑別來進行系統動態之驗證與修正,接著設計單軸控制器降低追蹤誤差,並推導多軸輪廓誤差模型,透過伺服增益調整方法提升輪廓精度減少誤差。本研究所提出的方法可利用自行研發之PC-Based控制器應在五軸雕刻機上,透過實驗來驗證刀具先端點插補與運動控制演算法之可行性,並藉由五軸伺服增益調整方法進一步提升動態量測之輪廓精度。
The paper presents motion control algorithms and dynamics error of inspection for a five-axis machining tool, to improve the accuracy of TCP (Tool Center Point) of multi-axis motion. Firstly, inverse kinematics equations and servo dynamic models of the five-axis machine are derived, and the dynamics models are verified by means of system identification. Therefore, tracking errors and multi-axis contour errors are reduced through tuning five-axis servo control loops and servo gains, respectively. The proposed methods can be implemented on a PC-based controller and performed on the five-axis engraving machining. Finally, experiment and simulation results demonstrate that the feasibility of five-axis TCP interpolation and motion control algorithms and the dynamics contouring error can be significantly improved on dynamic inspection of a five-axis machine tool.