本文藉由已發展成熟的各種理論，應用於RRR平面並聯式機構的位置控制與運動學分析。首先我們會對RRR平面並聯式機構做反向運動學、正向運動學和最大工作範圍的分析，還有直流馬達的PWM驅動、角度感測、系統識別以及PID、FLC、MPC控制理論。
進而建構出RRR平面並聯式機構之實驗平台，此機構由三顆直流馬達驅動，利用LABVIEW搭配CompactRIO、驅動模組NI-9505、PWM驅動及角度感測來做位置控制，還利用運動學和系統識別建構模擬運動狀態程式。
最後利用PID控制、模糊邏輯控制(FLC)、模型預測控制(MPC)三種控制理論，加入系統對三顆馬達做模擬、無接連桿及有接連桿三種狀態之角度控制，並各附上兩組實驗數據；先比較三顆馬達分別在三種狀態下的差異，包括角度與位置，接著分別在三種狀態下比較PID、FLC、MPC三種控制理論的效能。
針對RRR平面並聯式機構，本文於文末列舉出了幾項尚需改善的問題與未來發展之建議，本文詳細的分析與整理可最為未來深入研究的基礎。

This thesis investigated the position control of an RRR planar parallel mechanism. First, the inverse kinematics, the direct kinematics and the maximum workspace of the mechanism were analyzed. The PWM drive, the sensing of angular position, and the system identification of the DC motor were implemented. Three control theories, the PID control, the fuzzy logic control (FLC), and the model predictive control (MPC) were further studied.
Secondly, an experimental RRR planar parallel mechanism was constructed. The mechanism is driven by three DC motors, and the position control of each motor is implemented by software LabView, an embedded hardware CompactRio, a driving module NI-9505, and an angle sensor. The motion simulation of the mechanism is based on the kinematics and the system identification.
Thirdly, the PID control, the FLC and the MPC are implemented to complete the position control of the mechanism. Two examples are demonstrated, and each example performs three cases, numerical simulations, experimental results without connecting links, and experimental results with connecting links. These results show the differences of the rotating angles of the motors and the configurations of the mechanism. The results are also compared.
Finally, this thesis enumerates several issues which can be improved in the future researches. Besides, this thesis provided the detailed analysis and sorting which can be used as the basis for future in-depth research.

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