此論文完成串聯式機械手臂的位置控制，此研究的目標為應用幾種不同的控制器減少穩態誤差並比較這些控制器的效果。此論文包括了以下研究工作，首先，由正向運動學和反向運動學的推導，建立機械手臂的關節座標位置與馬達轉動角度的動態模型；其次為應用PID控制器與模糊控制器，此外再發展與應用兩種模糊PID控制器於機械手臂上；接著，經由Matlab/Simulink完成機械手臂的位置電腦模擬；實驗方面，機械手臂的關節角度經由Matlab/Simulnik套件 ─ xPC Target完成電腦與機械手臂的連結並將控制器實現於Micro-Box；最後，經由使用前述的控制器後，展示得到的數據與實驗的結果，檢驗這些控制器在穩態誤差、最大超越量、安定時間與終端操作器的移動路徑。

This thesis achieves the position control of a serial manipulator. The study objectives are to reduce the steady-state errors by applying several controllers and to compare the performances of these controllers. This thesis includes the following tasks. First of all, the equations of the forward kinematics and the inverse kinematics of the manipulator are derived, and the dynamic model between the joint coordinates of the manipulator and the rotating angles of the motors is established. Secondly, a PID controller and a fuzzy logic controller are implemented. Furthermore, two types of fuzzy-PID controllers are developed and applied to the manipulator. Thirdly, the motion simulations of the manipulator are completed by the software MATLAB/Simulink. For the experimental work, the joint angles of the manipulator are retrieved by the Matlab/Simulink package － xPC Target, and the controllers are implemented in the Micro-Box. Finally, several examples demonstrate the numerical and experimental results by using the aforementioned controllers. The performances of the controllers are examined based on the steady-state errors, the overshoots, the settling time, and the paths of the end-effecter.

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