精密加工時，微小的加工參數變化及外在因素，將影響加工品質，但現實
的精密加工作業很少將影響加工品質之因素進行深入探討與研究。本研究將拋
光加工作業作為探討對象，並透過人機互動的架構控制拋光力，將影響拋光品
質之因素深入探討
本文開發拋光過程之系統模型，並將拋光情境分為全自動拋光以及半自動
拋光，並將針對影響拋光力的原因納入模型參數，這些原因包含工業手臂不同
拋光路徑對拋光力的影響、刀具與加工件所存在的座標系偏差、刀具及加工件
接觸所發生的接觸現象，及半自動加工中人與搖桿之間的互動關係。最後透過
實驗比對，觀察到模擬值與實際力量趨勢相近，因此可驗證本研究模型之正確
性。

During precision machining, small parameter changes and external factors will
seriously affect the machining quality, but the actual precision machining operations
rarely conduct in-depth discussions and research on the factors that affect the machining quality. This study takes polishing operation as the object of discussion, and controls the polishing force through the framework of human-computer interaction, and further explores the factors that affect the polishing quality.
This study develops a system model of the polishing process, divides the polishing
scenarios into automatic polishing and semi-automatic polishing, and incorporates the
factors that affect the polishing force into the model parameters. These reasons include the influence of different polishing paths of the industrial robot on the polishing force,the coordinate system deviation between the tool and the workpiece, the contact between the tool and the workpiece. And the interaction between the human and the joystick in semi-automatic polishing. Finally, through experimental comparison, it is observed that the simulated value is similar to the actual force trend, so the correctness of the model in this study can be verified.

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