本論文提出工具機雙設定點運動控制方法(Twin-Setting-Points Motion Control, TPMC)，針對傳統軌跡誤差控制器無法清晰定義出不連續轉角處之軌跡誤差及造成轉角後過切之缺點，藉由導入參考路徑模型，以每個即時加減速規劃所得出之設定路徑長度，計算出額外之參考路徑長度，插補器依此二路徑長度算出設定路徑上之設定點，以及設定路徑上額外之軌跡誤差參考點，此額外之軌跡誤差參考點被用於定義軌跡誤差，優點是，任何切線方向連續之單一路徑或是切線方向不連續轉角處之軌跡誤差，皆可清晰而且唯一地定義出，並可為之設計專用的軌跡誤差控制器，以有效地降低軌跡誤差量，且無過切現象。
文中透過路徑模擬分析軌跡誤差控制器增益值之影響及得出最佳增益值，且針對切線方向不連續之轉角路徑提出漸進式可變增益值方法以避免轉角處產生過切現象，此方法可適用於所有轉角角度，此外也設計轉角自動減速機制，有效地提升軌跡精度。實機測試結果證實雙設定點運動控制方法可大幅降低軌跡誤差量及提升CNC工具機之加工精度。

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