本研究使用SolidWork繪圖軟體佐以機器人學理論自行設計製作五自由度串聯式機械手臂(Serial Manipulator)，利用Denavit-Hartenberg(D-H)法來推算機械手臂之運動關係以及正向與反向運動學推導，且搭配自製之馬達驅動板與具有光學編碼器之直流馬達來達到定位訊號回饋；而在控制系統中因多軸機械手臂自由度多，故本研究使用可程式化邏輯閘陣列(Field-Programmable Gate Array)嵌入式系統開發板做為控制核心，且因應機械手臂之數學模型推導十分困難，因此導入不需要系統模型之模糊滑動控制(Fuzzy Sliding Mode Control)，藉此達到準確之定位控制，以進行快速且準確之手臂運動操控性。

In this thesis, a five degree of freedom (DOF) manipulator was designed and constructed firstly. The driver of each joint motor was designed and built to control the joint motion. The Denavit-Hartenberg algorithm was employed to calculate the forward and inverse kinematics of this manipulator. The overall control system was constructed on a FPGA development board to monitor each joint motion and end-effector moving path. Since, it is hard to derive the accurate dynamic model of this multi-axis manipulator. Here, fuzzy-sliding mode controller is adopted to manipulate the motion trajectory of this manipulator. The experimental result shows that reasonable position control accuracy and response speed can be achieved with this model-free controller and embedded FPGA control structure.

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