本研究主要目的在於利用機械手臂在進行拋光作業時加入力量控制之研究。研究內容分為兩部分，第一部分為先利用CAD/CAM軟體設計欲拋光工件並模擬刀具切削路徑而得到刀具路徑點資料(CL DATA)，進而利用機械手臂教導器取得拋光工具座標位置，最後利用座標轉換方法得機械手臂拋光路徑；此方法可以減少一般工廠技術員利用教導器採用教導方式規劃機械手臂拋光路徑所耗費時間。而第二部分為機械手臂在執行拋光作業時加入力量控制，以兩種不同拋光方式及控制方法進行拋光作業，並利用白光干涉儀量測比較加入力量控制後拋光結果，由本文提出的混合阻抗/力量控制方法，在固定的拋光接觸點位置上，藉由選擇矩陣將拋光力量控制於單一Z軸方向，其拋光後表面粗糙度結果較佳。

The objective of this research is to investigate the force and tracking control of the robot arm during the polishing operations. The first task is to derive the cutter locations, which will be used as the tracking command for the robot end-effector, from the CAD/CAM software using the workpiece geometry to obtain the simulated cutting path. Further, the location of the cutting tool, i.e., the polishing pad, is obtained using the teaching panel of the robot. The desired trajectory of the end effector can then be calculated and avoid the time-consuming task to obtain the end effector trajectory manually. The second task is to include the force feedback and control to the robot command during the polishing operations. Two different polishing layout planning have been compared in this research, and the polishing results are evaluated using the white light interferometry. The evaluation results indicate that using the hybrid force/impedance control, if the polishing point is maintained at a constant point and orientation can yield better force control performance and surface roughness.

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