本研究整合力量回饋及位置操作系統的主控端與機械手臂系統的受控端，以執行教導機械手臂進行雕刻等需要依靠手感的作業，並以嵌入式系統將其重現。使用者操作主控端以輸出位置給機械手臂，使其到達目標位置，而機械手臂末端裝配有六軸力量感測器，力量感測器在感受到力量時，將力量資訊傳回主控端，並實現觸覺感受給使用者，最後，在完成整個作業時，將所有軌跡進行軌跡規劃，使其能夠再一次更加順暢及快速的重現軌跡。
主控端以PC-Based為核心，其功能可分為位置操作及力量回饋，使用者藉由操作Novint Falcon搖桿，並以內部編碼器經換算得出當前使用者手的位置座標經由RS232串列通訊傳送至受控端完成即時位置遙控。力量回饋則是以六軸力量感測器感測機械手臂末端的接觸力做為力量目標，經由模糊滑動控制器計算出力量命令給Novint Falcon，使之輸出一力量讓使用者感受到觸覺，最後以裝配於Novint Falcon末端的自製三維力量感測握把做為力量回饋系統的回授。
受控端以ALTERA Nios II Embedded Development Kit（以下簡稱Nios II開發板）為核心，連結至五軸機械手臂，在Nios II 發展板中以數位硬體電路達成訊號輸出即輸入之功能，數位訊號控制由Nios II發展板送至自製直流馬達驅動電路以驅動個馬達。數位電路中包括五組光學編碼器偵測、四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變訊號輸出、RS232通訊結構、SDRAM控制模組等等。軟體部分則是在Nios II之整合開發環境介面編寫系統之人機介面，編寫正、反運動學、控制法、軌跡規劃、重現軌跡等應用，以及藉由力量資訊來實現以位置為基礎之阻抗控制。

In this thesis, a five degrees of freedom industrial robotic arm, worked as a slave mechanism is connected with a three degrees of freedom haptic device to constitute a telecontrol system. The slave robot arm can carry out and reproduce the carving operation of user’s master device by teleoperation.
User can operate haptic device to command the slave side mechanical arm position motion, and end-effecter force sensor of the mechanical arm will feedback the slave side’s force information to master haptic device for representing the tactile feeling. When the teaching work is done, telecontrol system uses cubic spline line to plan a smooth loci for reproducing the commanded work.
The master side is a PC-Based control Novint Falcon haptic device. Its functions can be divided into qenerating position operation command and receiving force feedback. User can operate haptic device to generate user’s position command by integrating haptic device encoder imformation , and then the controller transmits the position coordinates imformation to slave side by RS232. End-effecter force sensor of the mechanical arm will feedback the slave side’s force information to master haptic device for responding their tactile feeling.
The ALTERA FPGA is selected as the Slave side robotic arm control architecture. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function. FPGA digital hardware contain decoder, filter, PWM,〖 I〗^2 C, IR and SDRAM controller etc. Nios II software function contain user interface, kinematics, inverse kinematicsv and FSMC calculations. The impedance control is employed to achieve the force and position control task during robotic machining operation.

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