近年來工廠自動化盛行，馬達運動控制器被大量使用於工廠自動化之機電整合系統，如：工業機器人、數值控制工具機、移動機器平台上。凡是需要精密機構運動之伺服控制系統大都需要馬達運動控制器來達成。

一般機械手臂在位置模式下的運作方式，是先在電腦端計算機械手臂運動學，再換算成各軸馬達轉動所需要的脈衝數量，接著由運動控制器傳送訊號至各軸的驅動器來驅使機械手臂各軸上的馬達轉動。而因為馬達轉動速度急遽變化容易使機件損壞，本研究對研究室所開發之六軸機械手臂設計運動控制器，利用五次多項式對關節位置和作業座標系軌跡規劃，使機械手臂在移動的過程中速度連續且平順。

本研究的實驗分為兩部分：電腦與運動控制器通訊實驗及五次多項式連續路徑軌跡規劃實驗。電腦與運動控制器通訊的實驗結果證實本研究的方法可以正確接受電腦端傳輸的命令。此外本研究以五次多項式連續路徑軌跡規劃透過運動控制器控制機械手臂移動，實驗結果證實機械手臂在移動的過程中，位置、速度及加速度為連續，可使機械手臂在作業中能穩定平順的工作。

In recent years, factory automation has prevailed, and motor motion controllers have been widely used in electromechanical integration systems for factory automation, for example industrial robots, numerical control machine tools and mobile machine platforms. All servo control systems that require precision mechanism motion require motor motion controllers.

The industrial robots are generally controlled under position mode. First the kinematics of the robot arm is calculated at the computer, and then converted the number of pulses required to rotate each axis motor. Finally, the motion controller sends signals to the actuators of each axis to drive the motor on each axis of the robot arm. Because of the rapid change in motor rotation speed, parts are easily damaged. In this study, the six-axis robotic arm developed by the laboratory was designed to use a five-degree polynomial trajectory planning for the joint position and work coordinate system to make the robot arm continuous and smooth during the movement.

The experiments of this study include the computer and motion controller communication experiment and fifth-order polynomial continuous path trajectory planning experiment. The experimental results of communication between the computer and the motion controller confirmed that the method of this study can correctly accept commands transmitted by the computer. In addition, the study uses a fifth-order polynomial continuous path trajectory planning to control the movement of the robot arm through a motion controller. The experimental results show that the speed and acceleration of the robotic arm are continuous during the movement, which makes the robot arm work stably and smoothly during the operation.

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