本文是建立一PC-Based水平多關節機械手臂，以嵌入式PC-Based控制卡較強的運算能力搭配SSCNET之網路與自組織模糊伺服控制技術，提高機械手臂軌跡運動的精度與速度。
實驗方面分為單軸與多軸的機械手臂伺服控制，藉由不同的實驗，了解水平多關節機械手臂的系統特性，並進一步分析自組織模糊控制器(SOFC)及auto-tuning控制器的控制特性與適用性，其結果顯示SOFC追蹤軌跡精度，來得比auto-tuning佳。

This research establishes a PC-Based horizontal multi- axial robot arm. Due to the embedded PC-Based controller device associated with the SSCNET network and self-organizing fuzzy control technology, it can improve the control performance and the trajectory tracking capability. In stead of the traditional PLC-based robot arm, this PC-based robot arm is more flexible to integrate with other facilities.
In experimental aspects, it is divided into single-axial and multi-
axial robot arm servo-control tests. By means of various experiments, it can understand system characteristics and control performance of this PC-Based horizontal multi-axial robot arm. And further analyzes the control characteristic and adaptability of self-organizing fuzzy controller (SOFC) and the auto-tuning controller, the results show that the tracking trajectory precision of SOFC is better than that of the auto-tuning.

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