人機協同半自動化作業，簡單定義為需要人與自動化設備共同完成的作業程序，其優點為透過人的操控和判斷，適合處理較複雜的作業，例如焊接、車子板金的拋光及人工關節的研磨等，並藉由自動化設備的輔助，從事反覆進行或是需要較大外力介入的工作，以提升工作的效率和穩定性。
因此本文將建立合作式半自動架構(一種人機協同半自動架構)，應用於拋光定力實驗中。此架構分為兩部分，第一部分為自主式機器人，負責夾持拋光刀具並依照工件形狀事先規劃運動軌跡；第二部分為主從式機器人，主控端為觸覺回饋搖桿，從端為三軸平台。實驗設置將工件安裝在力量感測器上，並同時固定於三軸平台終端器上，而力量感測器所量測的力量資訊將回饋給主控端。操作者可藉由主控端來感受自主式機器人拋光時的接觸力，並同時控制三軸平台終端器的移動，間接改變刀具與工件的接觸現象，來維持拋光所需的接觸力。
最後將設計阻抗控制器來模擬操作者對主從式機器人的控制，藉由比較半自動作業與控制器作業的實驗結果，來驗證本文建立之合作式半自動架構的可行性，並透過多位操作者的實驗測試，判斷是否有個體差異的存在。

關鍵字：半自動作業、合作式機器人、阻抗控制

Semi-Automated Cooperative Operations (SCO) are processes that require human and automated machine(s) to work together to complete a task. The advantage of SCO is that it can handle more complicated operations such as welding, polishing and grinding based on the operator’s manipulation and judgement. With the auxiliary of automated machine, SCO can be used for repetitive tasks and tasks that require large external force to increase effectiveness and stability of operation.
In this thesis, an SCO was designed to control the polishing force for a polishing operation. The structure of the SCO can be divided into two sections. The first part is an autonomous robot, which is responsible for clamping the polishing tool and preprogramming the motion trajectory according to the shape of the workpiece. The second part is the master-slave robot, the master is the tactile feedback joystick, and the slave is a 3-axis platform. The experimental setup is the workpiece mounted on the force sensor and fixed to the end effector of 3-axis platform. The force signal measured by the force sensor will feedback to the master. The operator can feel the contact force of polishing by the master, and then control the movement of the end effector of 3-axis platform at the same time, which indirectly changed the contact phenomenon between the tool and the workpiece to maintain the contact force while polishing.
Finally, the impedance controller will be designed to replace the control of operator in 3-axis platform. By comparing the experimental results of SCO and the operation with controller, the feasibility of SCO designed in this paper will be verified. And the results of multiple manipulation of different operators determine whether there exists an individual difference in the task.

Keywords : Semi-Autonomous Operation , Cooperative Robots, Impedance Control

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