本研究旨在使用機器手臂輔助拋光圓柱形工件。本文首先介紹機器手臂數學模型並推導正反向動學。由於組立完成之機器手臂包含製造與組裝誤差，實驗中嘗試以參數識別方法校準手臂幾何參數。研究過程中，先經由電腦模擬探討在有與無量測誤差的情形下，校準方法使用量測資料空間大小對參數內含誤差的影響，以作為設定機器手臂量測方法之依據。實驗中利用攝影鏡頭與高度規量測末端效應器位置後，以數值方法計算最適幾何參數。經由安排機器手臂在校準前後分別執行拋光作業，由實驗結果顯示手臂校準後，拋光工件之表面粗糙度較佳。

The goal of this research is to develop the robot assisted polishing for a cylindrical workpiece. This work studies the mathematic model for the manipulator and the formulas for the forward and inverse kinematics are derived. Since the geometry of a commercial robot always differs from its design nominal shape due to the manufacturing and assembling tolerances, this work tries to improve the positioning accuracy through a parameter identification procedure to calibrate the robot. In the computer simulation, the uncertainties involved in the robot parameters are analyzed for the position data of the robot end effector collected from different workspaces while the measurement errors are included or excluded. To assist the robot calibration, a camera and a micrometer with dial indicator are used to measure the positions of robot end effector. Finally, a cylindrical workpiece held by the robot is polished. Based on the experimental results, the surface roughness of the workpiece polished by the calibrated robot is improved in comparison with that polished by the un-calibrated robot.

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