本研究聯結力回饋操作系統的主控端與機械手臂系統的受控端。以執行主控端與受控端之位置與力量控制。在此以兩種方式來呈現，第一使用者操控力回饋操作系統輸出位置及力量資訊，傳輸到受控端使機械手臂重現相同位置及力量；第二使用者操控力回饋操作系統輸出位置，而機械手臂末端之力量感測器將力量回傳至力回饋操作系統，來聯結使用者與機械手臂之觸覺。
主控端以PC-Based為核心，配合Novint Falcon觸覺裝置之動作，可讀取其把手的位置資訊，對把手末端的做力量控制，並讀取把手末端壓阻式力量感測器之數值，加上機械手臂末端六軸力量感測器的力量回授也由PC-Based讀入，一同傳輸至機械手臂控制系統。
受控端以ALTERA Nios II Embedded Development Kit（以下簡稱Nios II 發展板）為核心，在Nios II 發展板內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，數位控制訊號由Nios II 發展板送至自製直流馬達驅動電路以驅動各軸馬達。數位電路包含五組光學編碼器信號偵測、四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變信號輸出、RS232通訊架構、SDRAM控制模組等等。軟體部分則是在NiosII之整合開發環境介面編寫系統之人機介面，並藉由力量資訊與Jacobian matrix計算各軸力矩誤差，並將使用位置/力量混合控制來實現力量與位置之控制。

In this thesis, a five degrees of freedom industrial robotic arm slave mechanism is connected with select a three degrees of freedom haptic device to constitute a telecontrol system.
User can operate haptic device for sending the position and force output information for the slave side mechanical arm for reproducing the correcting position and force; In addition user can operate haptic device to command the slave side mechanical arm output position information, and end-effecter force sensor of the mechanical arm will feedback the slave side’s force information to master haptic device for correlating their tactile feeling.
Master side is a PC-Based control Novint Falcon haptic device operation. The position and force information of the handle is feedback signal on haptic device’s encoder and piezoresistive force sensor to the slave side robotic control system.
The ALTERA FPGA is related at the Slave side robotic arm control architecture. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function. FPGA digital hardware contain decoder, filter, PWM,I^2 C, IR and SDRAM controller etc. Nios II software contain user interface, kinematics formula, FSMC algorithm and Jacobian matrix calculation of each axis torque. The position/force hybrid control is employed to achieve force and position control task.

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