本文旨在探討微型手掌系統的高性能控制器設計及製作。文中首先探討微手指的機構，接著提出微手指的運動學模型。經由使用本文所提出的運動學模型，建立微手指的指尖位置與微型永磁同步電動機轉子角度間的關係式。
在控制器設計方面，本文提出多重解析控制器、適應性逆控制器及模型預測控制器的設計及實現，實際應用於微型永磁同步電動機的轉子角度控制迴路，以改善其暫態響應、負載調控及追蹤的動態響應。
本文使用國家儀器公司的cRIO-9067嵌入式系統作為控制核心，執行角度控制迴路、抓力控制迴路、及軌跡規劃等。實驗結果說明本文所提的三種角度控制器均較比例-積分-微分控制器有更優越的性能。最後，以本文所研製的位置控制、抓力控制、及雙眼立體視覺執行微型手掌的目標物抓取工作。

This dissertation investigates the design and implementation of advanced controllers for a micro-hand control system. In this dissertation, first, the mechanical configuration of the micro-finger is discussed. Next, a kinematic model of the micro-finger is investigated. By using this proposed model, the relationship between the rotor angle of micro-permanent magnet synchronous motor (micro-PMSM) and the tip position of the micro-finger can be established.
In addition, a multi-resolution analysis controller, an adaptive inverse controller, and a model predictive controller are designed and implemented for the micro-PMSM angle control loop. The proposed control methods can improve the transient responses, load responses, and tracking responses of the closed-loop micro-PMSM system.
An embedded system, cRIO-9067, made by National Instrument Company, is used as the control center to excute the angle control, force control, and trajectory planning of the micro-PMSM. Experimental results show that the proposed angle control schemes provide better performance than the PID controller. Finally, the micro-hand system grasps objects by using the proposed angle control, force control, and binocular stereo vision system.

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