本論文發展一種將工業手臂執行組裝任務所需要的系統組裝資訊附加於CAD模型內的自動化程序。CAD模型中評估組裝過程是否符合工業手臂工作空間。由 CAD 模型內取得該些組裝資訊後，用來產生工業手臂運動軌跡、PLC、零件3D 列印以及致動器/視覺系統的相關命令。視覺系統可提供回饋資訊，用以修正工業手臂系統因CAD 模型建立、環境設置及工業手臂空間中定位等所產生的誤差，實現閉廻路控制系統。當生產線製程工序變化及產能擴展時，此創新系統可降低治具安裝時間、工業手臂手動教導時間、產品組間變異及對專業工業手臂教導專家的需求。這種可以自行產生機器手臂軌跡的能力可提高組裝精度，進而改變傳統工業手臂離線教導只能應用在上下料、噴塗和焊接等低容差(±0.5 ~mm)工作，讓機器手臂系統得以執行容差小於±0.1 mm的精密組裝工作。

This dissertation develops an autonomous process of conducting an assembly task by attaching the systematic assembly sequence information to the object’s computer-aided design (CAD) model. The information registered in the CAD model is then captured to arrange the robot trajectory, programmable logic controller commands, part three-dimensional printing, and actuator/vision system commands. The vision system can feedback information to modify the CAD model, the operating system, and the position errors in the robot space to achieve the closed-loop control. This innovative system can reduce the fixture implementation time, the (robot) manual teaching time, the error variation, and the demand for robot teaching experts in production lines in fast-changing and easy expansion situations. The capability of automatic trajectory generation will increase the precision of the operation to extend the work range from tasks like loading-unloading, pallet, spray, and welding, which rely on a tolerance of about ±0.5 mm, to assembly, which relies on a tolerance of ±0.1 mm.

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