在工業技術越來越發達的現在，對各種產品的設計與製造要求越求精密，而工具機的精度就是最直接影響到產品品質的主要原因，因此對工具機的誤差量測及補償就是相當重要的。
本文旨在對五軸工具機進行誤差的量測模擬與分析，在第二章，我們利用修正型D-H座標設定法則，對該五軸工具機各軸進行建模，定義各軸之間的齊次座標轉換矩陣，並得到刀具相對於工件原點的轉換矩陣，再利用逆向運動學推得五軸工具機轉換矩陣的參數，以利誤差量測與分析。第三章利用第二章得到的轉換矩陣與參數，配合NC程式的轉換，得到刀具與工件座標系的轉換關係，與影響NC數值函數的兩個主動參數。最後進行六次位姿量測，求出工件座標原點與兩個主動參數的值，以便進行誤差補償與工件原點定位。第四章對刀具的轉換矩陣做泰勒級數展開，得到各誤差參數的靈敏度，可以找出對誤差造成較大影響的參數，再經由幾種誤差量測方法，以便對影響較大的誤差參數進行量測。
本文對五軸工具機各誤差參數進行定義與分析，並經由線上量測與幾種誤差量測方法，將來可以對其進行誤差補償，以提高工具機的加工精密度與效率。

In the thesis, we focus on how to measure and analyze the errors of the 5-axis machine tools. First, we apply modified Denavit-Hartenberg notation to define the machine tools. After six times measurement of the different cutter position, we can find out the origin of the coordinate of workpiece and two error parameters. Second, we probe the parameters of the transformation matrix by applying Taylor series expansion. Hence we can find out the influence of the parameters on machine tools. Finally, we introduce two ways that were used well in industry to measure the errors.

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