光電產業的自動化生產設備之平台運動多為具往覆特性的多軸點到點間歇運動，也就是各軸獨立運動，不相互配合以產生軌跡，故其關鍵技術為實現單軸的高速重覆運動之精密定位控制。凸輪機構廣泛被應用在產生重覆(間歇)運動的設備，主因是其輸出的運動曲線非常平滑，且能透過凸輪的設計來達到任意的重覆(間歇)運動生成。本文以軟體凸輪(電子凸輪)的概念，以運動平台直接生成凸輪運動曲線，使得平台在運動曲線的生成上顯得非常有彈性且迅速。其中，精密定位運動的關鍵技術在於機構設計、控制器性能、及軌跡產生器的發展，本研究之單軸凸輪運動曲線產生系統於機構設計上是使用線型馬達運動平台，由於線型馬達的直接驅動特性，將能免除傳統機構傳動設備中存在的間隙誤差，提供預期的動態行為;在控制器性能方面，由於其運動特性為重覆式的間歇運動，故本研究設計了一實用的重覆控制系統來完成馬達控制;而在軌跡產生器方面，也針對了重覆式間歇運動的需求，提供了參數式之點到點凸輪曲線命令產生器，能彈性地生成平滑的運動曲線以符合實際精密生產設備的精度及彈性需求。

Electro-optical industry has been highly developed in the recent years. The equipments of electro-optical industry usually involve repetitive motion control in each motion axis. Hence, technique to improve high speed repetitive positioning control for electro-optical industry become important and urgently required by the industry.

It is interesting to know that cam is widely used in equipments for repetitive motion because of it can produce various smooth motion trajectories. This thesis adopted electronic cam to create motion trajectories directly and flexibly. In case of accurate positioning motion, mechanism design, performance of controllers and development of trajectory generator are considerable.

This thesis uses a direct driving linear motor platform to perform the verification and experiment convention machine tool and provide kinematic behavior. A practical repetitive controller was designed for linear motors and developed in the thesis. In addition, the trajectory generator can provide smooth functions of point-to-point command to achieve the requirements of accurate and flexible motion on manufacturing equipments.

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