拋光作業能使工件維持原本尺寸並降低工件本身表面粗糙度，是加工生產中重要的一步。但目前的人工拋光作業需要大量的人力及時間成本，而且執行拋光作業的環境會危害人體健康，故本研究開發出一套以機械手臂代替人工的自動化拋光系統。礙於市面上的工業型機械手臂控制系統無法更改底層程式，因此本研究將自行開發出一台五軸機械手臂。使用SolidWork軟體搭配機器人學理論設計製作五自由度串聯式機械手臂，並自製馬達驅動板以及馬達解碼電路板，再以PID控制作為位置控制，搭配 Arduino做為控制核心。
本實驗利用CAD/CAM軟體設計欲拋光工件並模擬拋光加工路徑，獲得拋光面之表面點資料，最後利用座標轉換方法獲得機械手臂拋光路徑。再利用機械手臂進行拋光作業，並加入力量控制，本研究所使用之力量控制法為阻抗控制，將機械手臂以固定力量下進行拋光。最後利用表面粗糙度量測系統量測工件，並比較無力量控制及有力量控制拋光結果。

Polishing is the process of creating a smooth and shiny surface. It is an important procedure for machine processing. However, the current manual polishing operations require lots of personnel and time costs, and the environment of polishing operation will endanger human health. Therefore, this study developed an automatic polishing system instead of artificial. But the industrial manipulator on the market isn’t altered the program. So a five degree of freedom (DOF) manipulator was designed and manufactured firstly in this thesis. And use SolidWork and robotics to manufacture manipulator. The motor driver and motor decoder built to control the joint motion by PID control. The overall control system was control on Arduino board and calculated by computer.
Derive the polishing path that will be used as the tracking command for the manipulator, from the CAD/CAM software using the workpiece geometry to obtain the simulated cutting path. And use transformation of coordinates to derive the polishing path. And force control is adopted to manipulate the force of manipulator during the polishing operations. The force control is impedance control in this thesis. Finally compare the surface roughness.

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